I am a first year FRC with an existing team. The previous coach bought a SwerveX with neo 1.1 motors. His setup used only one through bore encoder. The kids on the team did not understand the setup and want to switch to a more traditional swerve setup. Do we need an through bore encoder for each motor? Or is there a better encoder we should use to monitor direction and position? Or are the Sparks sufficient? Very confused by swerve but kids are determined - any help or things to read would be helpful.
I don’t know if this is the absolute best option but the CAN coder is a good encoder. An absolute encoder is only nesscary for the rotation shaft which is the default mounting position for one. I think some of the best things to read to make swerve less intmidating are Paper: 4 wheel independent drive & independent steering ("swerve") which talks about the dynamics and the math behind the swerve drive modules, but your best resource is going to be teams in your area that have gotten swerve working. I would reach out to team’s 2872 (I mentor this team so reach out if you want to connect in person), 3171, 870 they would be willing to help you out
I’m assuming this is one per module? That’s fine, and I’d argue it is a traditional setup. It’s what REV’s MAXSwerve uses. However, I’m a little confused on where that would be mounted on a SwerveX.
The integrated NEO encoder that the SPARKs expose should be sufficient for measuring the drive motors.
Depends on if its inverted or not
These are the two locations with the white plastic piece with a pcb being the encoder
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