Upgrading to 2025.7.0

swervelib/encoders/DIODutyCycleEncoderSwerve.java

@@ -0,0 +1,129 @@
+package swervelib.encoders;
+
+import edu.wpi.first.wpilibj.Alert;
+import edu.wpi.first.wpilibj.Alert.AlertType;
+import edu.wpi.first.wpilibj.DutyCycleEncoder;
+import edu.wpi.first.wpilibj.Timer;
+
+/**
+ * DutyCycle encoders such as "US Digital MA3 with DIO Output, the CTRE Mag Encoder, the Rev Hex Encoder, and the AM Mag
+ * Encoder." attached via a DIO lane.
+ * <p>
+ * Credits to
+ * <a href="https://github.com/p2reneker25/2035-YAGSL/blob/main/swervelib/encoders/DIODutyCycleEncoderSwerve.java">
+ * p2reneker25</a> for building this.
+ */
+public class DIODutyCycleEncoderSwerve extends SwerveAbsoluteEncoder
+{
+
+  /**
+   * Duty Cycle Encoder.
+   */
+  private final DutyCycleEncoder encoder;
+  /**
+   * Inversion state.
+   */
+  private       boolean          isInverted;
+  /**
+   * An {@link Alert}  for if the encoder cannot report accurate velocities.
+   */
+  private       Alert            inaccurateVelocities;
+  /**
+   * The Offset in degrees of the DIO absolute encoder.
+   */
+  private       double           offset;
+
+  /**
+   * Constructor for the DIO duty cycle encoder.
+   *
+   * @param pin DIO lane for the encoder.
+   */
+  public DIODutyCycleEncoderSwerve(int pin)
+  {
+    encoder = new DutyCycleEncoder(pin);
+    Timer.delay(2);
+    inaccurateVelocities = new Alert(
+        "Encoders",
+        "The DIO Duty Cycle encoder may not report accurate velocities!",
+        AlertType.kWarning);
+
+  }
+
+  @Override
+  public void close()
+  {
+    encoder.close();
+  }
+
+  /**
+   * Configure the inversion state of the encoder.
+   *
+   * @param inverted Whether the encoder is inverted.
+   */
+  @Override
+  public void configure(boolean inverted)
+  {
+    isInverted = inverted;
+  }
+
+  /**
+   * Get the absolute position of the encoder.
+   *
+   * @return Absolute position in degrees from [0, 360).
+   */
+  @Override
+  public double getAbsolutePosition()
+  {
+    return (isInverted ? -1.0 : 1.0) * ((encoder.get() * 360) - offset);
+  }
+
+  /**
+   * Get the encoder object.
+   *
+   * @return {@link DutyCycleEncoder} from the class.
+   */
+  @Override
+  public Object getAbsoluteEncoder()
+  {
+    return encoder;
+  }
+
+  /**
+   * Get the velocity in degrees/sec.
+   *
+   * @return velocity in degrees/sec.
+   */
+  @Override
+  public double getVelocity()
+  {
+    inaccurateVelocities.set(true);
+    return encoder.get();
+  }
+
+  /**
+   * Reset the encoder to factory defaults.
+   */
+  @Override
+  public void factoryDefault()
+  {
+    // Do nothing
+  }
+
+  /**
+   * Clear sticky faults on the encoder.
+   */
+  @Override
+  public void clearStickyFaults()
+  {
+    // Do nothing
+  }
+
+
+  @Override
+  public boolean setAbsoluteEncoderOffset(double offset)
+  {
+    this.offset = offset;
+
+    return true;
+  }
+}