What are other teams doing to calculate the offset for swerve drive?

We’re trying to calculate our angle offset for our swerve drive. We read both the Neo encoder values and the CAN encoder values and are comparing those two. Doing this, we’re getting a jittery drive response, shown in the video below.

Hi, I don’t see the posted video, but when you say Can encoders, do you mean a Cancoder?

Or a different absolute encoder?

For us, we have an absolute Cancoder that we zero’d by hand once, put the offset in code, then when the bot starts we set our motor position based on that Cancoder. The Cancoder doesn’t zero between powercycles like the built in encoders, so it always knows it’s position.