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Updated YAGSL to support CANandEncoders.

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This commit is contained in:
thenetworkgrinch
2023-08-09 13:15:02 -05:00
parent b18491fa9c
commit d356dec4d0
10 changed files with 277 additions and 77 deletions
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9
swervelib/parser/json/ModuleJson.java
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@@ -66,14 +66,7 @@ public class ModuleJson
String name)
{
SwerveMotor angleMotor = angle.createMotor(false);
SwerveAbsoluteEncoder absEncoder = encoder.createEncoder();
// If the absolute encoder is attached.
if (absEncoder == null)
{
absEncoder = angle.createIntegratedEncoder(angleMotor);
angleMotor.setAbsoluteEncoder(absEncoder);
}
SwerveAbsoluteEncoder absEncoder = encoder.createEncoder(angleMotor);
return new SwerveModuleConfiguration(
drive.createMotor(true),