CTRE CANcoders are great, and they are the best documented in terms of integrating with SDS swerve modules. But to be clear, they aren’t the only option if you are worried about price. Alternatives include:
- Thriftybot absolute encoders (wired to the Rio, or to a Spark Max through a data port breakout board)
- Redux Robotics Canancoder (wired to CAN or to a Spark Max data port)