Updated swervelib

swervelib/encoders/SparkMaxEncoderSwerve.java

@@ -0,0 +1,85 @@
+package frc.robot.subsystems.swervedrive2.swervelib.encoders;
+
+import com.revrobotics.AbsoluteEncoder;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.SparkMaxAbsoluteEncoder.Type;
+import frc.robot.subsystems.swervedrive2.swervelib.motors.SwerveMotor;
+
+/**
+ * SparkMax absolute encoder, attached through the data port.
+ */
+public class SparkMaxEncoderSwerve extends SwerveAbsoluteEncoder
+{
+
+  /**
+   * The {@link AbsoluteEncoder} representing the duty cycle encoder attached to the SparkMax.
+   */
+  public AbsoluteEncoder encoder;
+
+  /**
+   * Create the {@link AbsoluteEncoder} object as a duty cycle. from the {@link CANSparkMax} motor.
+   *
+   * @param motor Motor to create the encoder from.
+   */
+  public SparkMaxEncoderSwerve(SwerveMotor motor)
+  {
+    if (motor.getMotor() instanceof CANSparkMax)
+    {
+      encoder = ((CANSparkMax) motor.getMotor()).getAbsoluteEncoder(Type.kDutyCycle);
+    } else
+    {
+      throw new RuntimeException("Motor given to instantiate SparkMaxEncoder is not a CANSparkMax");
+    }
+  }
+
+  /**
+   * Reset the encoder to factory defaults.
+   */
+  @Override
+  public void factoryDefault()
+  {
+    // Do nothing
+  }
+
+  /**
+   * Clear sticky faults on the encoder.
+   */
+  @Override
+  public void clearStickyFaults()
+  {
+    // Do nothing
+  }
+
+  /**
+   * Configure the absolute encoder to read from [0, 360) per second.
+   *
+   * @param inverted Whether the encoder is inverted.
+   */
+  @Override
+  public void configure(boolean inverted)
+  {
+    encoder.setInverted(inverted);
+  }
+
+  /**
+   * Get the absolute position of the encoder.
+   *
+   * @return Absolute position in degrees from [0, 360).
+   */
+  @Override
+  public double getAbsolutePosition()
+  {
+    return encoder.getPosition();
+  }
+
+  /**
+   * Get the instantiated absolute encoder Object.
+   *
+   * @return Absolute encoder object.
+   */
+  @Override
+  public Object getAbsoluteEncoder()
+  {
+    return encoder;
+  }
+}