pic: Small CIM in wheel swerve

[Bryce2471]

Originally Posted by AdamHeard

If you embrace incremental, then it can be a huge time savings.

We never have to manually zero sensors, there are no magic numbers in code, and we know we can replace a sensor/system at any time with no new work required.

Every position system 973 has ran all the way back to 2012 has been on an incremental sensor that assumes a zero at start (plus sometimes a manual or automated routine to hardstop zero). We always mean to add the zeroing sensors, but never do as the functionality isn't needed.

I have found that with swerves, the small amount of accumulated drift from an incremental encoder is unexceptable. This is because it causes the wheels to fight each other, and makes the responce to driver input less predictable. I know you guys have run swerves in the past. Did you use incremental encoders? If so, how did you keep the drift down and zero them?