Fixed NetworkAlerts

swervelib/encoders/SparkMaxEncoderSwerve.java

@@ -4,9 +4,9 @@ import com.revrobotics.AbsoluteEncoder;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.REVLibError;
 import com.revrobotics.SparkAbsoluteEncoder.Type;
-import edu.wpi.first.wpilibj.DriverStation;
 import java.util.function.Supplier;
 import swervelib.motors.SwerveMotor;
+import swervelib.telemetry.Alert;
 
 /**
  * SparkMax absolute encoder, attached through the data port.
@@ -17,7 +17,15 @@ public class SparkMaxEncoderSwerve extends SwerveAbsoluteEncoder
   /**
    * The {@link AbsoluteEncoder} representing the duty cycle encoder attached to the SparkMax.
    */
-  public AbsoluteEncoder encoder;
+  public  AbsoluteEncoder encoder;
+  /**
+   * An {@link Alert} for if there is a failure configuring the encoder.
+   */
+  private Alert           failureConfiguring;
+  /**
+   * An {@link Alert} for if there is a failure configuring the encoder offset.
+   */
+  private Alert           offsetFailure;
 
   /**
    * Create the {@link SparkMaxEncoderSwerve} object as a duty cycle from the {@link CANSparkMax} motor.
@@ -36,6 +44,14 @@ public class SparkMaxEncoderSwerve extends SwerveAbsoluteEncoder
     {
       throw new RuntimeException("Motor given to instantiate SparkMaxEncoder is not a CANSparkMax");
     }
+    failureConfiguring = new Alert(
+        "Encoders",
+        "Failure configuring SparkMax Analog Encoder",
+        Alert.AlertType.WARNING_TRACE);
+    offsetFailure = new Alert(
+        "Encoders",
+        "Failure to set Absolute Encoder Offset",
+        Alert.AlertType.WARNING_TRACE);
   }
 
   /**
@@ -52,7 +68,7 @@ public class SparkMaxEncoderSwerve extends SwerveAbsoluteEncoder
         return;
       }
     }
-    DriverStation.reportWarning("Failure configuring encoder", true);
+    failureConfiguring.set(true);
   }
 
   /**
@@ -124,7 +140,8 @@ public class SparkMaxEncoderSwerve extends SwerveAbsoluteEncoder
         return true;
       }
     }
-    DriverStation.reportWarning("Failure to set Absolute Encoder Offset Error: " + error, false);
+    offsetFailure.setText("Failure to set Absolute Encoder Offset Error: " + error);
+    offsetFailure.set(true);
     return false;
   }