pic: Small CIM in wheel swerve

[GeeTwo]

Originally Posted by Dunngeon

Which slip ring would you use? Mercotac's are banned.

I was thinking of a custom solution when I suggested a module no taller than the wheel diameter. A quadrature encoder or a CAN controller wired in the traditional method would require 6 wires. Is it possible to make a CAN talon work with only two control wires that branch a bit away from the talon? If so, you could reduce the connection to four wires, if you could figure out a place to park the talon on the far side of the sliprings with the motor, gearbox, encoder, and wheel.