Updated swervelib

swervelib/encoders/SwerveAbsoluteEncoder.java

@@ -0,0 +1,39 @@
+package frc.robot.subsystems.swervedrive2.swervelib.encoders;
+
+/**
+ * Swerve abstraction class to define a standard interface with absolute encoders for swerve modules..
+ */
+public abstract class SwerveAbsoluteEncoder
+{
+
+  /**
+   * Reset the encoder to factory defaults.
+   */
+  public abstract void factoryDefault();
+
+  /**
+   * Clear sticky faults on the encoder.
+   */
+  public abstract void clearStickyFaults();
+
+  /**
+   * Configure the absolute encoder to read from [0, 360) per second.
+   *
+   * @param inverted Whether the encoder is inverted.
+   */
+  public abstract void configure(boolean inverted);
+
+  /**
+   * Get the absolute position of the encoder.
+   *
+   * @return Absolute position in degrees from [0, 360).
+   */
+  public abstract double getAbsolutePosition();
+
+  /**
+   * Get the instantiated absolute encoder Object.
+   *
+   * @return Absolute encoder object.
+   */
+  public abstract Object getAbsoluteEncoder();
+}