README updated

swervelib/SwerveEncoder.java

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+package frc.robot.subsystems.swervedrive.swerve;
+
+import com.ctre.phoenix.sensors.CANCoder;
+import com.ctre.phoenix.sensors.MagnetFieldStrength;
+import com.revrobotics.AbsoluteEncoder;
+import edu.wpi.first.wpilibj.AnalogEncoder;
+import edu.wpi.first.wpilibj.DutyCycleEncoder;
+import frc.robot.subsystems.swervedrive.swerve.encoders.CTRECANCoder;
+import frc.robot.subsystems.swervedrive.swerve.encoders.PWMAnalogEncoder;
+import frc.robot.subsystems.swervedrive.swerve.encoders.PWMDutyCycleEncoder;
+import frc.robot.subsystems.swervedrive.swerve.encoders.REVAbsoluteEncoder;
+
+/**
+ * Swerve Encoder class definition for common interfaces.
+ */
+public abstract class SwerveEncoder<AbsoluteEncoderType>
+{
+
+  /**
+   * The encoder can be directly referenced for configuration purposes of onboard PIDs.
+   */
+  public AbsoluteEncoderType m_encoder;
+
+  /**
+   * Get the SwerveEncoder class from the given encoder types
+   *
+   * @param encoder               Encoder
+   * @param <AbsoluteEncoderType> One of DutyCycleEncoder, AnalogEncoder, AbsoluteEncoder, and CANCoder
+   * @return SwerveEncoder subclass
+   */
+  public static <AbsoluteEncoderType> SwerveEncoder<?> fromEncoder(AbsoluteEncoderType encoder)
+  {
+    if (encoder instanceof CANCoder)
+    {
+      return new CTRECANCoder((CANCoder) encoder);
+    } else if (encoder instanceof DutyCycleEncoder)
+    {
+      return new PWMDutyCycleEncoder((DutyCycleEncoder) encoder);
+    } else if (encoder instanceof AnalogEncoder)
+    {
+      return new PWMAnalogEncoder((AnalogEncoder) encoder);
+    } else if (encoder instanceof AbsoluteEncoder)
+    {
+      return new REVAbsoluteEncoder((AbsoluteEncoder) encoder);
+    }
+
+    return null;
+  }
+
+  /**
+   * Configure the absolute encoder if possible.
+   */
+  public abstract void configure();
+
+  /**
+   * Reset encoder to factory default settings, if possible.
+   */
+  public abstract void factoryDefault();
+
+  /**
+   * Get the magnetic field strength, if available.
+   *
+   * @return CTRE MagneticFieldStrength Enum.
+   */
+  public abstract MagnetFieldStrength getMagnetFieldStrength();
+
+  /**
+   * Get the absolute position in degrees.
+   *
+   * @return Absolute position (0, 360]
+   */
+  public abstract double getAbsolutePosition();
+
+  /**
+   * Get the velocity of the absolute encoder in degrees per second.
+   *
+   * @return Velocity in degrees per second.
+   */
+  public abstract double getVelocity();
+
+  /**
+   * Configure the magnetic offset for the AbsoluteEncoder.
+   *
+   * @param offset Offset in degrees.
+   */
+  public abstract void setOffset(double offset);
+
+  /**
+   * Is the encoder reachable?
+   *
+   * @return True if reachable, false otherwise.
+   */
+  public abstract boolean reachable();
+
+  /**
+   * Configure the sensor direction
+   *
+   * @param isInverted Inverted or not.
+   */
+  public abstract void setInverted(boolean isInverted);
+
+}