yo no way i forgot we needed an encoder 😭
so im gonna have to change up a few things:
make the coaxial pulley and gear somewhat deadaxle so there is an encoder shaft
ik most teams drop the encoder, but if we want to have the most accurate angle sensing, this is a MUST. we NEED this to have a better swerve module. theres a reason every frc swerve module has this.
other than that tho, its coming together nicely (hes herringbone like i said previously because force spead across multiple teeth)

• time spent: ~30 mins