[Quikc Question] Examples of absolute encoders

I am following some guides/tutorials on programming a swerve drive, and in all of the ones that I’ve looked at, they require an “Absolute Encoder” that is plugged into the Analog IN on the RIO.

Our team is new to swerve, and we’re kind of confused as to what absolute encoder we should use, and examples of such.

like, Is the CTRE CANCoder an absolute encoder? Are there other options for absolute encoders?

Are their better or more affordable options?

Thanks, manso

The CTRE CANcoder is indeed an absolute encoder (actually it’s both, which is nice).

There are a few other good options. TTB has a nice absolute encoder solution at a good price. If you are brand new, this is the solution I like because it’s the most simple.

Redux robotics is a new player to the FRC market, but has an absolute encoder with lots of features, similar to the CANcoder.

The CTRE SRX Mag encoder also has absolute encoder functionality, but it going to be the trickiest to wire.

Hope this helps. Good luck.

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There’s also the REV Through Bore Encoder which is also an absolute encoder that can be easily wired into a SPARK MAX

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One caveat to this is that the rev through bore absolute encoder may be difficult to implement in many modern COTS swerve solutions (except for MAXSwerve modules) if you’re running custom swerve or MAXSwerve it may be a good option.

Using a spark max for spark flex, a rev through bore is very easy to implement. If you are using CTRE motor controllers (Falcon/Kraken), it is pretty impossible to hook up.

yes, I agree, I was more talking mechanically. For example, the SDS modules are advertised to work with the CANCoders so I’m not sure how one would hook up a REV Through bore encoder to it. If someone has done it I would love to see it though!

Edit: other encoders work with the SDS modules as well such as the thrifty encoder, I was merely suggesting that it may be challenging to use the REV throughbore specifically.

So, all these encoders plug into the “analog in” on the RIO? The reason I ask is because in my code needs them to be plugged into the analog in

The TTB does that easily.

I think the other solutions require some soldering.

Some of these do not use analog. My personal preference is to stay away from analog, but it’s been successfully used by teams. It should not be very hard to change your code if you wind up using something besides analog.