Updated swervelib

swervelib/encoders/CANCoderSwerve.java

@@ -0,0 +1,96 @@
+package frc.robot.subsystems.swervedrive2.swervelib.encoders;
+
+import com.ctre.phoenix.sensors.AbsoluteSensorRange;
+import com.ctre.phoenix.sensors.CANCoderConfiguration;
+import com.ctre.phoenix.sensors.SensorInitializationStrategy;
+import com.ctre.phoenix.sensors.SensorTimeBase;
+import com.ctre.phoenix.sensors.WPI_CANCoder;
+
+/**
+ * Swerve Absolute Encoder for CTRE CANCoders.
+ */
+public class CANCoderSwerve extends SwerveAbsoluteEncoder
+{
+
+  /**
+   * CANCoder with WPILib sendable and support.
+   */
+  public WPI_CANCoder encoder;
+
+  /**
+   * Initialize the CANCoder on the standard CANBus.
+   *
+   * @param id CAN ID.
+   */
+  public CANCoderSwerve(int id)
+  {
+    encoder = new WPI_CANCoder(id);
+  }
+
+  /**
+   * Initialize the CANCoder on the CANivore.
+   *
+   * @param id     CAN ID.
+   * @param canbus CAN bus to initialize it on.
+   */
+  public CANCoderSwerve(int id, String canbus)
+  {
+    encoder = new WPI_CANCoder(id, canbus);
+  }
+
+  /**
+   * Reset the encoder to factory defaults.
+   */
+  @Override
+  public void factoryDefault()
+  {
+    encoder.configFactoryDefault();
+  }
+
+  /**
+   * Clear sticky faults on the encoder.
+   */
+  @Override
+  public void clearStickyFaults()
+  {
+    encoder.clearStickyFaults();
+  }
+
+  /**
+   * Configure the absolute encoder to read from [0, 360) per second.
+   *
+   * @param inverted Whether the encoder is inverted.
+   */
+  @Override
+  public void configure(boolean inverted)
+  {
+    CANCoderConfiguration canCoderConfiguration = new CANCoderConfiguration();
+    canCoderConfiguration.absoluteSensorRange = AbsoluteSensorRange.Unsigned_0_to_360;
+    canCoderConfiguration.sensorDirection = inverted;
+    canCoderConfiguration.initializationStrategy = SensorInitializationStrategy.BootToAbsolutePosition;
+    canCoderConfiguration.sensorTimeBase = SensorTimeBase.PerSecond;
+    encoder.configAllSettings(canCoderConfiguration);
+  }
+
+  /**
+   * Get the absolute position of the encoder.
+   *
+   * @return Absolute position in degrees from [0, 360).
+   */
+  @Override
+  public double getAbsolutePosition()
+  {
+    return encoder.getAbsolutePosition();
+  }
+
+  /**
+   * Get the instantiated absolute encoder Object.
+   *
+   * @return Absolute encoder object.
+   */
+  @Override
+  public Object getAbsoluteEncoder()
+  {
+    return encoder;
+  }
+}