pic: Small CIM in wheel swerve

[AdamHeard]

Originally Posted by Bryce2471

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?

You shouldn't be losing counts (which is why we love using them).

However, if you are there are two likely causes.

1) Mechanical slip. Somehow the encoder is slipping, easy to fix w/ better design.

2) Voltage brownout causing the supply voltage to the encoders to drop out. We use a regulated supply for all of our encoders for this reason.