Upgrading to 2025.7.0

swervelib/encoders/ThriftyNovaEncoderSwerve.java

@@ -6,89 +6,111 @@ import swervelib.motors.ThriftyNovaSwerve;
 /**
  * Thrifty Nova absolute encoder, attached through the data port.
  */
-public class ThriftyNovaEncoderSwerve extends SwerveAbsoluteEncoder {
-    /** The absolute encoder is directly interfaced through the Thrifty Nova motor. */
-    protected ThriftyNovaSwerve motor;
-    /**
-     * Inversion state of the attached encoder.
-     */
-    protected boolean inverted = false;
-    /**
-     * Offset of the absolute encoder.
-     */
-    protected double offset = 0.0;
-   
-    /**
-     * Create the {@link ThriftyNovaEncoderSwerve} object as an absolute encoder from the {@link ThriftyNovaSwerve} motor.
-     *
-     * @param motor {@link SwerveMotor} through which to interface with the attached encoder .
-     */
-    public ThriftyNovaEncoderSwerve(SwerveMotor motor) {
-        this.motor = (ThriftyNovaSwerve)motor;
-        motor.setAbsoluteEncoder(null);
-    }
+public class ThriftyNovaEncoderSwerve extends SwerveAbsoluteEncoder
+{
 
-    /**
-     * Set factory default.
-     */
-    @Override
-    public void factoryDefault() {
-    }
+  /**
+   * The absolute encoder is directly interfaced through the Thrifty Nova motor.
+   */
+  protected ThriftyNovaSwerve motor;
+  /**
+   * Inversion state of the attached encoder.
+   */
+  protected boolean           inverted = false;
+  /**
+   * Offset of the absolute encoder.
+   */
+  protected double            offset   = 0.0;
 
-    /**
-     * Clear sticky faults.
-     */
-    @Override
-    public void clearStickyFaults() {
-    }
+  /**
+   * Create the {@link ThriftyNovaEncoderSwerve} object as an absolute encoder from the {@link ThriftyNovaSwerve}
+   * motor.
+   *
+   * @param motor {@link SwerveMotor} through which to interface with the attached encoder .
+   */
+  public ThriftyNovaEncoderSwerve(SwerveMotor motor)
+  {
+    this.motor = (ThriftyNovaSwerve) motor;
+    motor.setAbsoluteEncoder(null);
+  }
 
-    /**
-     * Configure the absolute encoder.
-     *
-     * @param inverted Whether the encoder is inverted.
-     */
-    @Override
-    public void configure(boolean inverted) {
-        this.inverted = inverted;
-    }
+  @Override
+  public void close()
+  {
+    // ThriftyNova encoder gets closed with the motor
+    // I don't think an encoder getting closed should 
+    // close the entire motor so i will keep this empty
+    // sparkFlex.close();
+  }
 
-    /**
-     * Get the absolute position of the encoder.
-     *
-     * @return Absolute position in degrees from [0, 360).  
-     */
-    @Override
-    public double getAbsolutePosition() {
-        return (motor.getPosition() + offset) * (inverted ? -1.0 : 1.0);
-    }
+  /**
+   * Set factory default.
+   */
+  @Override
+  public void factoryDefault()
+  {
+  }
 
-    /**
-     * Get the instantiated absolute encoder Object.
-     */
-    @Override
-    public Object getAbsoluteEncoder() {
-        return null;
-    }
+  /**
+   * Clear sticky faults.
+   */
+  @Override
+  public void clearStickyFaults()
+  {
+  }
 
-    /**
-     * Set the absolute encoder offset.
-     *
-     * @param offset offset in degrees from [0, 360).
-     * @return true if successful.
-     */
-    @Override
-    public boolean setAbsoluteEncoderOffset(double offset) {
-        this.offset = offset;
-        return true;
-    }
+  /**
+   * Configure the absolute encoder.
+   *
+   * @param inverted Whether the encoder is inverted.
+   */
+  @Override
+  public void configure(boolean inverted)
+  {
+    this.inverted = inverted;
+  }
 
-    /**
-     * Get the absolute encoder velocity.
-     * WARNING: Angular velocity is generally not measurable at high speeds.
-     * @return Velocity in degrees per second.
-     */
-    @Override
-    public double getVelocity() {
-       return motor.getVelocity();
-    }    
+  /**
+   * Get the absolute position of the encoder.
+   *
+   * @return Absolute position in degrees from [0, 360).
+   */
+  @Override
+  public double getAbsolutePosition()
+  {
+    return (motor.getPosition() + offset) * (inverted ? -1.0 : 1.0);
+  }
+
+  /**
+   * Get the instantiated absolute encoder Object.
+   */
+  @Override
+  public Object getAbsoluteEncoder()
+  {
+    return null;
+  }
+
+  /**
+   * Set the absolute encoder offset.
+   *
+   * @param offset offset in degrees from [0, 360).
+   * @return true if successful.
+   */
+  @Override
+  public boolean setAbsoluteEncoderOffset(double offset)
+  {
+    this.offset = offset;
+    return true;
+  }
+
+  /**
+   * Get the absolute encoder velocity. WARNING: Angular velocity is generally not measurable at high speeds.
+   *
+   * @return Velocity in degrees per second.
+   */
+  @Override
+  public double getVelocity()
+  {
+    return motor.getVelocity();
+  }
 }