The Rev Absolute Encoder Adapters are out of stock, which is a real bummer for anyone with a Swerve drive and a broken adapter. The Rev Alternate Encoder Adapters are in stock, but don’t work with the Through Bore Encoders in absolute mode, which was a double bummer to figure out way too late.
After a bit of reverse engineering, came up with this quick rework that turns an Alternate Encoder Adapter into an Absolute Encoder Adapter. The through bore encoder gets power/gnd through the red and black wires, and all that’s left to do is to pass the “absolute” signal in the white wire to pin 6 on the SparkMax data port. The rest of the wires don’t do anything.
On the Alternate Encoder Adapter, the signal from the blue wire is passed through to pin 6, so the rework is to cut the pins on the back of the white connector as shown, bend pin 2 over to pad 3, and solder it in place. That’s it. You’ll need some high quality flush cutters to cut those pins, maybe some nice needle nose pliers to get the bend, and a soldering iron to make the connection. (Note that pin 2 is cut right above the pad before it is bent). Now just treat the adapter like you would the out of stock one. You can ignore the switch, it doesn’t matter what it’s set to. You wont have pads to solder limit switches to like you do on the real Absolute Encoder Adapter, but you don’t need those for the Swerve Drive.