README updated

swervelib/encoders/REVAbsoluteEncoder.java

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+package frc.robot.subsystems.swervedrive.swerve.encoders;
+
+import com.ctre.phoenix.sensors.MagnetFieldStrength;
+import com.revrobotics.AbsoluteEncoder;
+import frc.robot.subsystems.swervedrive.swerve.SwerveEncoder;
+
+public class REVAbsoluteEncoder extends SwerveEncoder<AbsoluteEncoder>
+{
+
+  /**
+   * Constructor for AbsoluteEncoder class.
+   *
+   * @param encoder Encoder to wrap around.
+   */
+  public REVAbsoluteEncoder(AbsoluteEncoder encoder)
+  {
+    m_encoder = encoder;
+    configure();
+  }
+
+  /**
+   * Configure the absolute encoder if possible.
+   */
+  @Override
+  public void configure()
+  {
+    // Redundant, but ensures everything is always correct.
+    m_encoder.setPositionConversionFactor(360);
+    m_encoder.setVelocityConversionFactor(360.0 / 60.0);
+  }
+
+  /**
+   * Reset encoder to factory default settings, if possible.
+   */
+  @Override
+  public void factoryDefault()
+  {
+    // Nothing to do here.
+  }
+
+  /**
+   * Get the magnetic field strength, if available.
+   *
+   * @return CTRE MagneticFieldStrength Enum.
+   */
+  @Override
+  public MagnetFieldStrength getMagnetFieldStrength()
+  {
+    // Unable to check, assume green.
+    return MagnetFieldStrength.Good_GreenLED;
+  }
+
+  /**
+   * Get the absolute position in degrees.
+   *
+   * @return Absolute position (0, 360]
+   */
+  @Override
+  public double getAbsolutePosition()
+  {
+    return m_encoder.getPosition();
+  }
+
+  /**
+   * Get the velocity of the absolute encoder in degrees per second.
+   *
+   * @return Velocity in degrees per second.
+   */
+  @Override
+  public double getVelocity()
+  {
+    return m_encoder.getVelocity();
+  }
+
+  /**
+   * Configure the magnetic offset for the AbsoluteEncoder.
+   *
+   * @param offset Offset in degrees.
+   */
+  @Override
+  public void setOffset(double offset)
+  {
+    m_encoder.setZeroOffset(offset);
+  }
+
+  /**
+   * Is the encoder reachable?
+   *
+   * @return True if reachable, false otherwise.
+   */
+  @Override
+  public boolean reachable()
+  {
+    return true;
+  }
+
+  /**
+   * Configure the sensor direction.
+   *
+   * @param isInverted Inverted or not.
+   */
+  @Override
+  public void setInverted(boolean isInverted)
+  {
+    m_encoder.setInverted(isInverted);
+  }
+}