From bf59167648dce9ebae4e05136f02fa7c915f24a4 Mon Sep 17 00:00:00 2001
From: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>
Date: Tue, 16 Jan 2024 16:53:07 -0600
Subject: [PATCH] Included PR's

---
 swervelib/encoders/CanAndCoderSwerve.java | 26 +++++++++--------------
 swervelib/parser/json/ModuleJson.java     |  1 -
 2 files changed, 10 insertions(+), 17 deletions(-)

diff --git a/swervelib/encoders/CanAndCoderSwerve.java b/swervelib/encoders/CanAndCoderSwerve.java
index 4b21498..9ab0098 100644
--- a/swervelib/encoders/CanAndCoderSwerve.java
+++ b/swervelib/encoders/CanAndCoderSwerve.java
@@ -1,7 +1,6 @@
 package swervelib.encoders;
 
 import com.reduxrobotics.sensors.canandcoder.Canandcoder;
-import edu.wpi.first.wpilibj.DriverStation;
 
 /**
  * HELIUM {@link Canandcoder} from ReduxRobotics absolute encoder, attached through the CAN bus.
@@ -12,11 +11,7 @@ public class CanAndCoderSwerve extends SwerveAbsoluteEncoder
   /**
    * The {@link Canandcoder} representing the CANandCoder on the CAN bus.
    */
-  public  Canandcoder encoder;
-  /**
-   * Inversion state of the encoder.
-   */
-  private boolean     inverted = false;
+  public Canandcoder encoder;
 
   /**
    * Create the {@link Canandcoder}
@@ -30,6 +25,8 @@ public class CanAndCoderSwerve extends SwerveAbsoluteEncoder
 
   /**
    * Reset the encoder to factory defaults.
+   * 
+   * This will not clear the stored zero offset.
    */
   @Override
   public void factoryDefault()
@@ -47,14 +44,14 @@ public class CanAndCoderSwerve extends SwerveAbsoluteEncoder
   }
 
   /**
-   * Configure the CANandCoder to read from [0, 360) per second.
+   * Configure the Canandcoder to read from [0, 360) per second.
    *
    * @param inverted Whether the encoder is inverted.
    */
   @Override
   public void configure(boolean inverted)
   {
-    this.inverted = inverted;
+    encoder.setSettings(new Canandcoder.Settings().setInvertDirection(inverted));
   }
 
   /**
@@ -65,7 +62,7 @@ public class CanAndCoderSwerve extends SwerveAbsoluteEncoder
   @Override
   public double getAbsolutePosition()
   {
-    return (inverted ? -1.0 : 1.0) * encoder.getPosition() * 360;
+    return encoder.getAbsPosition() * 360;
   }
 
   /**
@@ -80,18 +77,15 @@ public class CanAndCoderSwerve extends SwerveAbsoluteEncoder
   }
 
   /**
-   * Cannot set the offset of the CanAndCoder.
+   * Cannot set the offset of the Canandcoder.
    *
    * @param offset the offset the Absolute Encoder uses as the zero point.
-   * @return always false due to CanAndCoder not supporting offset changing.
+   * @return true if setting the zero point succeeded, false otherwise
    */
   @Override
   public boolean setAbsoluteEncoderOffset(double offset)
   {
-    //CanAndCoder does not support Absolute Offset Changing
-    DriverStation.reportWarning("Cannot Set Absolute Encoder Offset of CanAndCoders ID: " + encoder.getAddress(),
-                                false);
-    return false;
+    return encoder.setSettings(new Canandcoder.Settings().setZeroOffset(offset));
   }
 
   /**
@@ -102,6 +96,6 @@ public class CanAndCoderSwerve extends SwerveAbsoluteEncoder
   @Override
   public double getVelocity()
   {
-    return encoder.getVelocity();
+    return encoder.getVelocity() * 360;
   }
 }
diff --git a/swervelib/parser/json/ModuleJson.java b/swervelib/parser/json/ModuleJson.java
index 0d4f490..d345415 100644
--- a/swervelib/parser/json/ModuleJson.java
+++ b/swervelib/parser/json/ModuleJson.java
@@ -116,7 +116,6 @@ public class ModuleJson
       throw new RuntimeException(
           "Conversion factors cannot be 0, please configure conversion factors in physicalproperties.json or the module JSON files.");
     }
-    System.out.println(conversionFactor.drive);
 
     return new SwerveModuleConfiguration(
         drive.createMotor(true),