pic: Revolution Swerve Demo Robot

[KrazyCarl92]

Originally Posted by Ether

Was this 15 degree difference consistently repeatable?

Both sides would be off a bit pretty much all the time. When we tried debugging it in java we saw that the encoders would read equal values at angles that were visibly unequal. At times the wheels would seem fine and at other times they clearly were not our drive train would sometimes look like this (top view where "|" indicates the wheel direction):
| |
| | and other times be like this:

\ |
\ |
and when we switched them with the pots it worked fine. We were just interested in using encoders because pots are notorious for blowing out at the least convenient time possible .

So to answer the question...not repeatable.