Also required for swerve drive are a gyro and mag encoders. Gyros tell the robot its pitch, roll, and yaw, as well as accelerometer data. Mag encoders use magnets fused to the rotation column of the swerve modules to tell exactly where the wheel is even after power cycling.
Gyroscope
We strongly recommend using the CTRE Pigeon 2.0 gyro as it is the latest they've came out with and it is compatible with their codebase, which will make it much easier when it comes to the code. CTRE products are required if you want to use their swerve code generator. It is best practice to put the gyro in the center for accurate accelerometer readings but it is not required for swerve as they are not used.
