Update reliability

swervelib/SwerveModule.java

@@ -43,7 +43,7 @@ public class SwerveModule
   /**
    * Module number for kinematics, usually 0 to 3. front left -> front right -> back left -> back right.
    */
-  public final  int                    moduleNumber;
+  public final int moduleNumber;
   /**
    * Swerve Motors.
    */

swervelib/encoders/SparkMaxAnalogEncoderSwerve.java

@@ -32,13 +32,15 @@ public class SparkMaxAnalogEncoderSwerve extends SwerveAbsoluteEncoder
    * Create the {@link SparkMaxAnalogEncoderSwerve} object as a analog sensor from the {@link CANSparkMax} motor data
    * port analog pin.
    *
-   * @param motor Motor to create the encoder from.
+   * @param motor      Motor to create the encoder from.
+   * @param maxVoltage Maximum voltage for analog input reading.
    */
-  public SparkMaxAnalogEncoderSwerve(SwerveMotor motor)
+  public SparkMaxAnalogEncoderSwerve(SwerveMotor motor, double maxVoltage)
   {
     if (motor.getMotor() instanceof CANSparkMax)
     {
       encoder = ((CANSparkMax) motor.getMotor()).getAnalog(Mode.kAbsolute);
+      encoder.setPositionConversionFactor(360 / maxVoltage);
     } else
     {
       throw new RuntimeException("Motor given to instantiate SparkMaxEncoder is not a CANSparkMax");
@@ -108,7 +110,7 @@ public class SparkMaxAnalogEncoderSwerve extends SwerveAbsoluteEncoder
   @Override
   public double getAbsolutePosition()
   {
-    return encoder.getPosition() * (360 / 3.3);
+    return encoder.getPosition();
   }
 
   /**

swervelib/imu/ADIS16448Swerve.java

@@ -112,9 +112,11 @@ public class ADIS16448Swerve extends SwerveIMU
 
   /**
    * Fetch the rotation rate from the IMU in degrees per second. If rotation rate isn't supported returns empty.
+   *
    * @return {@link Double} of the rotation rate as an {@link Optional}.
    */
-  public double getRate() {
+  public double getRate()
+  {
     return imu.getRate();
   }
 

swervelib/imu/ADIS16470Swerve.java

@@ -112,9 +112,11 @@ public class ADIS16470Swerve extends SwerveIMU
 
   /**
    * Fetch the rotation rate from the IMU in degrees per second. If rotation rate isn't supported returns empty.
+   *
    * @return {@link Double} of the rotation rate as an {@link Optional}.
    */
-  public double getRate() {
+  public double getRate()
+  {
     return imu.getRate();
   }
 

swervelib/imu/ADXRS450Swerve.java

@@ -110,9 +110,11 @@ public class ADXRS450Swerve extends SwerveIMU
 
   /**
    * Fetch the rotation rate from the IMU in degrees per second. If rotation rate isn't supported returns empty.
+   *
    * @return {@link Double} of the rotation rate as an {@link Optional}.
    */
-  public double getRate() {
+  public double getRate()
+  {
     return imu.getRate();
   }
 

swervelib/imu/AnalogGyroSwerve.java

@@ -117,9 +117,11 @@ public class AnalogGyroSwerve extends SwerveIMU
 
   /**
    * Fetch the rotation rate from the IMU in degrees per second. If rotation rate isn't supported returns empty.
+   *
    * @return {@link Double} of the rotation rate as an {@link Optional}.
    */
-  public double getRate() {
+  public double getRate()
+  {
     return imu.getRate();
   }
 

swervelib/imu/NavXSwerve.java

@@ -179,9 +179,11 @@ public class NavXSwerve extends SwerveIMU
 
   /**
    * Fetch the rotation rate from the IMU in degrees per second. If rotation rate isn't supported returns empty.
+   *
    * @return {@link Double} of the rotation rate as an {@link Optional}.
    */
-  public double getRate() {
+  public double getRate()
+  {
     return imu.getRate();
   }
 

swervelib/imu/Pigeon2Swerve.java

@@ -140,9 +140,11 @@ public class Pigeon2Swerve extends SwerveIMU
 
   /**
    * Fetch the rotation rate from the IMU in degrees per second. If rotation rate isn't supported returns empty.
+   *
    * @return {@link Double} of the rotation rate as an {@link Optional}.
    */
-  public double getRate() {
+  public double getRate()
+  {
     return imu.getRate();
   }
 

swervelib/imu/PigeonSwerve.java

@@ -115,11 +115,13 @@ public class PigeonSwerve extends SwerveIMU
     return Optional.of(new Translation3d(initial[0], initial[1], initial[2]).times(9.81 / 16384.0));
   }
 
-   /**
+  /**
    * Fetch the rotation rate from the IMU in degrees per second. If rotation rate isn't supported returns empty.
+   *
    * @return {@link Double} of the rotation rate as an {@link Optional}.
    */
-  public double getRate() {
+  public double getRate()
+  {
     return imu.getRate();
   }
 

swervelib/imu/SwerveIMU.java

@@ -58,6 +58,7 @@ public abstract class SwerveIMU
 
   /**
    * Fetch the rotation rate from the IMU in degrees per second. If rotation rate isn't supported returns empty.
+   *
    * @return {@link Double} of the rotation rate as an {@link Optional}.
    */
   public abstract double getRate();

swervelib/parser/json/DeviceJson.java

@@ -71,7 +71,7 @@ public class DeviceJson
       case "attached":
         return new SparkMaxEncoderSwerve(motor, 1);
       case "sparkmax_analog":
-        return new SparkMaxAnalogEncoderSwerve(motor);
+        return new SparkMaxAnalogEncoderSwerve(motor, 3.3);
       case "canandcoder":
         return new SparkMaxEncoderSwerve(motor, 360);
       case "canandcoder_can":