Does the mk4i come with the absolute encoder?

No it does not.



This is the one they recommend.

They can work without the encoder if you manually reset the wheels. This would be fine for practice, but I don’t recommend doing this for a real comp. I’m sure some teams do though.

We ran this configuration for a few days when we had a couple issues with the CANcoders (our fault).



You can also use the CTRE MAG encoders if you are using a neo and spark max combination.

Do you mean through the data port or back to the RIO?

I’m assuming through the data port using the “alternate encoder” setup.

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Right now, the best option is probably to go back to the RIO. More here.

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