Added more encoder support, possible advantagescope support.

swervelib/encoders/AnalogAbsoluteEncoderSwerve.java

@@ -0,0 +1,92 @@
+package swervelib.encoders;
+
+import edu.wpi.first.wpilibj.AnalogInput;
+import edu.wpi.first.wpilibj.RobotController;
+
+/**
+ * Swerve Absolute Encoder for Thrifty Encoders and other analog encoders.
+ */
+public class AnalogAbsoluteEncoderSwerve extends SwerveAbsoluteEncoder
+{
+  // Entire class inspired by 5010
+  // Source: https://github.com/FRC5010/FRCLibrary/blob/main/FRC5010Example2023/src/main/java/frc/robot/FRC5010/sensors/AnalogInput5010.java
+  /**
+   * Encoder as Analog Input.
+   */
+  public  AnalogInput encoder;
+  /**
+   * Inversion state of the encoder.
+   */
+  private boolean     inverted = false;
+
+  /**
+   * Construct the Thrifty Encoder as a Swerve Absolute Encoder.
+   *
+   * @param encoder Encoder to construct.
+   */
+  public AnalogAbsoluteEncoderSwerve(AnalogInput encoder)
+  {
+    this.encoder = encoder;
+  }
+
+  /**
+   * Construct the Encoder given the analog input channel.
+   *
+   * @param channel Analog Input channel of which the encoder resides.
+   */
+  public AnalogAbsoluteEncoderSwerve(int channel)
+  {
+    this(new AnalogInput(channel));
+  }
+
+  /**
+   * 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)
+  {
+    this.inverted = inverted;
+  }
+
+  /**
+   * Get the absolute position of the encoder.
+   *
+   * @return Absolute position in degrees from [0, 360).
+   */
+  @Override
+  public double getAbsolutePosition()
+  {
+    return (inverted ? -1.0 : 1.0) * (encoder.getAverageVoltage() / RobotController.getVoltage5V()) * 360;
+  }
+
+  /**
+   * Get the instantiated absolute encoder Object.
+   *
+   * @return Absolute encoder object.
+   */
+  @Override
+  public Object getAbsoluteEncoder()
+  {
+    return encoder;
+  }
+}