Update to 2024.0.5.4

swervelib/encoders/CanAndMagSwerve.java

@@ -0,0 +1,101 @@
+package swervelib.encoders;
+
+import com.reduxrobotics.sensors.canandmag.Canandmag;
+
+/**
+ * HELIUM {@link Canandmag} from ReduxRobotics absolute encoder, attached through the CAN bus.
+ */
+public class CanAndMagSwerve extends SwerveAbsoluteEncoder
+{
+
+  /**
+   * The {@link Canandmag} representing the CANandMag on the CAN bus.
+   */
+  public Canandmag encoder;
+
+  /**
+   * Create the {@link Canandmag}
+   *
+   * @param canid The CAN ID whenever the CANandMag is operating on the CANBus.
+   */
+  public CanAndMagSwerve(int canid)
+  {
+    encoder = new Canandmag(canid);
+  }
+
+  /**
+   * Reset the encoder to factory defaults.
+   * <p>
+   * This will not clear the stored zero offset.
+   */
+  @Override
+  public void factoryDefault()
+  {
+    encoder.resetFactoryDefaults(false);
+  }
+
+  /**
+   * Clear sticky faults on the encoder.
+   */
+  @Override
+  public void clearStickyFaults()
+  {
+    encoder.clearStickyFaults();
+  }
+
+  /**
+   * Configure the CANandMag to read from [0, 360) per second.
+   *
+   * @param inverted Whether the encoder is inverted.
+   */
+  @Override
+  public void configure(boolean inverted)
+  {
+    encoder.setSettings(new Canandmag.Settings().setInvertDirection(inverted));
+  }
+
+  /**
+   * Get the absolute position of the encoder.
+   *
+   * @return Absolute position in degrees from [0, 360).
+   */
+  @Override
+  public double getAbsolutePosition()
+  {
+    return encoder.getAbsPosition() * 360;
+  }
+
+  /**
+   * Get the instantiated absolute encoder Object.
+   *
+   * @return Absolute encoder object.
+   */
+  @Override
+  public Object getAbsoluteEncoder()
+  {
+    return encoder;
+  }
+
+  /**
+   * Cannot set the offset of the CANandMag.
+   *
+   * @param offset the offset the Absolute Encoder uses as the zero point.
+   * @return true if setting the zero point succeeded, false otherwise
+   */
+  @Override
+  public boolean setAbsoluteEncoderOffset(double offset)
+  {
+    return encoder.setSettings(new Canandmag.Settings().setZeroOffset(offset));
+  }
+
+  /**
+   * Get the velocity in degrees/sec.
+   *
+   * @return velocity in degrees/sec.
+   */
+  @Override
+  public double getVelocity()
+  {
+    return encoder.getVelocity() * 360;
+  }
+}