Upgrading to 2025.1.0

swervelib/encoders/TalonSRXEncoderSwerve.java

@@ -0,0 +1,90 @@
+package swervelib.encoders;
+
+import com.ctre.phoenix.motorcontrol.FeedbackDevice;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+import swervelib.motors.SwerveMotor;
+import swervelib.motors.TalonSRXSwerve;
+
+/**
+ * Talon SRX attached absolute encoder.
+ */
+public class TalonSRXEncoderSwerve extends SwerveAbsoluteEncoder
+{
+
+  /**
+   * Multiplying by this converts native Talon SRX units into degrees.
+   */
+  private final double       degreesPerSensorUnit;
+  /**
+   * Reference to a Talon SRX for polling its attached absolute encoder.
+   */
+  private final WPI_TalonSRX talon;
+
+  /**
+   * Creates a {@link TalonSRXEncoderSwerve}.
+   *
+   * @param motor          motor to poll the sensor from.
+   * @param feedbackDevice the feedback device the sensor uses e.g. PWM or Analog.
+   */
+  public TalonSRXEncoderSwerve(SwerveMotor motor, FeedbackDevice feedbackDevice)
+  {
+    if (motor instanceof TalonSRXSwerve talonSRXSwerve)
+    {
+      talonSRXSwerve.setSelectedFeedbackDevice(feedbackDevice);
+      this.talon = (WPI_TalonSRX) talonSRXSwerve.getMotor();
+      // https://v5.docs.ctr-electronics.com/en/stable/ch14_MCSensor.html#sensor-resolution
+      degreesPerSensorUnit = switch (feedbackDevice)
+      {
+        case Analog -> 360.0 / 1024.0;
+        default -> 360.0 / 4096.0;
+      };
+    } else
+    {
+      throw new RuntimeException("Motor given to instantiate TalonSRXEncoder is not a WPI_TalonSRX");
+    }
+  }
+
+  @Override
+  public void factoryDefault()
+  {
+    // Handled in TalonSRXSwerve
+  }
+
+  @Override
+  public void clearStickyFaults()
+  {
+    // Handled in TalonSRXSwerve
+  }
+
+  @Override
+  public void configure(boolean inverted)
+  {
+    talon.setSensorPhase(inverted);
+  }
+
+  @Override
+  public double getAbsolutePosition()
+  {
+    return (talon.getSelectedSensorPosition() * degreesPerSensorUnit) % 360;
+  }
+
+  @Override
+  public Object getAbsoluteEncoder()
+  {
+    return talon;
+  }
+
+  @Override
+  public boolean setAbsoluteEncoderOffset(double offset)
+  {
+    talon.setSelectedSensorPosition(talon.getSelectedSensorPosition() + offset / degreesPerSensorUnit);
+    return true;
+  }
+
+  @Override
+  public double getVelocity()
+  {
+    return talon.getSelectedSensorVelocity() * 10 * degreesPerSensorUnit;
+  }
+
+}