> For the complete documentation index, see [llms.txt](https://docs.plummerindustries.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.plummerindustries.com/drive-systems/drive-corners/absolute-sensor.md).

# THETA  Azimuth Sensor

Information on our sensor

## Sensor

To create the lowest swerve possible we had to develop a sensor that could accommodate that. We designed a sensor that is only the thickness of a single PCB to accomplish what we think is thinnest through bore sensor we could feasibly create. 

## Target

The target for the sensor is epoxied into the top of the spider. It is needed to report position correctly to the THETA. It is under the red cover in the below image. 

<figure><img src="https://270029800-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F7vOj1wNOe9PSYVrgrYTW%2Fuploads%2FFYpV3FM10CdMu9TCY1YA%2FCapture.PNG?alt=media&amp;token=916f50d6-b4b3-4774-a00b-3946e5d21847" alt="" width="368"><figcaption></figcaption></figure>

## Wiring

### Data Port

You can use a standard 10 pin data cable to directly connect the sensor to a Spark Max , Talon SRX, or TalonFX

### Molex SL

You can use a Molex SL Connection to directly integrate the sensor into the RoboRio's 5 volt analog pins.&#x20;

## More Information can be found here

{% content-ref url="/pages/0Wh18JL5FxenwsXYpFwC" %}
[THETA - Rotational Absolute Position Sensor](/electronics/analog-sensor.md)
{% endcontent-ref %}


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