VersaSwerve Reveal Video

[Chak]

Wow! Can you specify which parts are custom and how those parts would be made? I want to know how close you can get to a swerve using Vexpro COTS items as much as possible.

I see 2 ma3 absolute encoders on the module rotation. Is it just to provide a second choice of mounting, or does the use of 2 encoders help the accuracy/consistency/something? The ma3 encoder from Andymark is $45 each, and I find it hard to justify $180 extra if every other swerve uses only one encoder for position.