Best encoder for swerve drive

[TimTheGreat]

Originally Posted by marshall

You might also consider the new magnetic encoders from Cross the Road: http://www.ctr-electronics.com/senso...c-encoder.html but I'm not sure about the maximum speed it supports and if it would be a good fit or not for this application.

How do I connect a PWM output to the encoder breakout? Or the 3-pin MA3?

[Breakaway3937]

We have used incremental in the past. We do have to zero them each time.

We use this one from USDigitial.
http://www.usdigital.com/products/en...tary/shaft/S4T

We mount them one stage up from our modules on a flexible shaft adapter. They are easy to change. We use to use 10 turn pots...that was a nightmare! They worked, but one short or loss of connection and they were toast.

I am very interested in the new embedded magnetic encoder in the vex planetary gearboxes. They have absolute, incremental, and index. That would be nice.

[TimTheGreat]

Originally Posted by Breakaway3937

We have used incremental in the past. We do have to zero them each time.

Does zeroing require ultimate precision or does it just have to be 'close enough'?

[Peyton Yeung]

Please see my response in this thread.

[Breakaway3937]

Originally Posted by TimTheGreat

Does zeroing require ultimate precision or does it just have to be 'close enough'?

Not really we just always said pulleys or sprockets one way, and we make marks on the sides of the module and the robot to help with remembering line up. One issue with our encoders is that if they ever reset they will rezero wherever they are. With the new system and the abundance of dedicated power ports, this has never been an issue. Just make sure they are connected somewhere with dedicated power i.e. the voltage regulator.