My team is trying to figure out what the red and black wire go to on the can coder for the mk4i swerve module. We think has something to do with the power supply, but we are not completely sure.
Section 2.2 of the Cancoder hardware guide has exactly what you need.
The red/black is exactly what you surmise, power supply. It needs 12V, and can be powered directly off of your PDP/PDH. You can use one of the “small” low current ports on PDH or one of the big 30A/40A capable ports – whatever you have available. You can allocate 1 12V port to all your encoders as well as other 12V items (e.g. limelights, other sensors, etc.
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From page 10 of the CANCoder User Guide https://store.ctr-electronics.com/content/user-manual/CANCoder%20User’s%20Guide.pdf it is 12V Power.
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if you didn’t buy the cancoders presoldered, i’d recommend being careful to not damage them, when my team did swerve last year i accidentally damaged one of them and we had to fix it with some jankyness
It’s also easy to install the encoders upside down. Be careful and pay attention to the pink and blue dot.
There’s a couple ways to power them and what our team likes to do is wire all the power leads of the cancoders together into a 5 pole wago (left) into the rev mini power module (right). That way it cleans up the wiring a bit. You can also use the mini power module to power a limelight and other 12v sensors. You then wire the mini power module up to the pdh/pdp.
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