Experiment to see if the cheap AMS AS5600 magnetic encoders will work over I2C.
These common on Amazon, for example:
https://www.amazon.com/Hyhpsjiee-Magnetic-Induction-Measurement-Precision/dp/B0BS1LCSR8
they have seven pins:
- VCC 3.3v
- GND
- ratiometric output
- direction (clockwise positive or reversed), connect this to ground
- GPO for programming, has a pull up, leave it alone
- SCL
- SDA
The I2C address is fixed at 0x36. For multiples (e.g. swerve steering), we should use an I2C multiplexer (e.g. PCA9546), but for this experiment i'll just use 0x36.