Updated YAGSL to support CANandEncoders.

swervelib/encoders/CanAndCoderSwerve.java

@@ -0,0 +1,80 @@
+package swervelib.encoders;
+
+import com.revrobotics.AbsoluteEncoder;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.SparkMaxAbsoluteEncoder.Type;
+import swervelib.motors.SwerveMotor;
+
+/**
+ * SparkMax absolute encoder, attached through the data port.
+ */
+public class CanAndCoderSwerve extends SwerveAbsoluteEncoder {
+
+  /**
+   * The {@link AbsoluteEncoder} representing the duty cycle encoder attached to
+   * the SparkMax.
+   */
+  public AbsoluteEncoder encoder;
+
+  /**
+   * Create the {@link AbsoluteEncoder} object as a duty cycle. from the
+   * {@link CANSparkMax} motor.
+   *
+   * @param motor Motor to create the encoder from.
+   */
+  public CanAndCoderSwerve(SwerveMotor motor) {
+    if (motor.getMotor() instanceof CANSparkMax) {
+      encoder = ((CANSparkMax) motor.getMotor()).getAbsoluteEncoder(Type.kDutyCycle);
+      encoder.setPositionConversionFactor(360);
+      encoder.setVelocityConversionFactor(360);
+    } else {
+      throw new RuntimeException("Motor given to instantiate SparkMaxEncoder is not a CANSparkMax");
+    }
+  }
+
+  /**
+   * 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) {
+    encoder.setInverted(inverted);
+  }
+
+  /**
+   * Get the absolute position of the encoder.
+   *
+   * @return Absolute position in degrees from [0, 360).
+   */
+  @Override
+  public double getAbsolutePosition() {
+    return encoder.getPosition();
+  }
+
+  /**
+   * Get the instantiated absolute encoder Object.
+   *
+   * @return Absolute encoder object.
+   */
+  @Override
+  public Object getAbsoluteEncoder() {
+    return encoder;
+  }
+}