pic: Small CIM in wheel swerve

[Ether]

Originally Posted by Bryce2471

I have found that with swerves, the small amount of accumulated drift from an incremental encoder is unexceptable.

If you are getting "drift" with an incremental encoder then you are probably doing something wrong.

Adam listed two likely causes. A third, fourth, fifth, and sixth might be 3) using an encoder outside its operating range (edges per second), 4) a damaged encoder (dirty / scratched optical disk), 5) improperly assembled / mounted (optical disk alignment / concentricity), and 6) incorrect programming (resetting the counts rather than letting the FPGA accumulator run freely).