Added overrides for canandcoder, falcon/talonfx for encoder pulse per rotation configuration option.

swervelib/parser/SwerveModuleConfiguration.java

@@ -3,7 +3,6 @@ package swervelib.parser;
 import static swervelib.math.SwerveMath.calculateDegreesPerSteeringRotation;
 import static swervelib.math.SwerveMath.calculateMaxAcceleration;
 import static swervelib.math.SwerveMath.calculateMetersPerRotation;
-
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.math.geometry.Translation2d;
 import swervelib.encoders.SwerveAbsoluteEncoder;
@@ -200,7 +199,7 @@ public class SwerveModuleConfiguration
            ? calculateMetersPerRotation(
         physicalCharacteristics.wheelDiameter,
         physicalCharacteristics.driveGearRatio,
-        angleMotorEncoderPulsePerRevolution)
+        physicalCharacteristics.driveEncoderPulsePerRotation)
            : calculateDegreesPerSteeringRotation(
                physicalCharacteristics.angleGearRatio,
                angleMotorEncoderPulsePerRevolution);

swervelib/parser/json/DeviceJson.java

@@ -169,4 +169,24 @@ public class DeviceJson
     throw new RuntimeException(
         "Could not create absolute encoder from data port of " + type + " id " + id);
   }
+
+  /**
+   * Get the encoder pulse per rotation based off of the encoder type.
+   *
+   * @param angleEncoderPulsePerRotation The configured pulse per rotation.
+   * @return The correct pulse per rotation based off of the encoder type.
+   */
+  public int getPulsePerRotation(int angleEncoderPulsePerRotation)
+  {
+    switch (type)
+    {
+      case "canandcoder":
+        return 360;
+      case "falcon":
+      case "talonfx":
+        return 2048;
+      default:
+        return angleEncoderPulsePerRotation;
+    }
+  }
 }

swervelib/parser/json/ModuleJson.java

@@ -68,6 +68,14 @@ public class ModuleJson
     SwerveMotor           angleMotor = angle.createMotor(false);
     SwerveAbsoluteEncoder absEncoder = encoder.createEncoder(angleMotor);
 
+    // Override angle encoder pulse per rotation based on the encoder and motor type.
+    int encoderPulseOverride = encoder.getPulsePerRotation(physicalCharacteristics.angleEncoderPulsePerRotation);
+    int motorPulseOverride   = angle.getPulsePerRotation(physicalCharacteristics.angleEncoderPulsePerRotation);
+
+    int angleEncoderPulsePerRotation =
+        motorPulseOverride != physicalCharacteristics.angleEncoderPulsePerRotation ? motorPulseOverride
+                                                                                   : encoderPulseOverride;
+
     // If the absolute encoder is attached.
     if (absEncoder == null)
     {
@@ -89,7 +97,7 @@ public class ModuleJson
         absoluteEncoderInverted,
         inverted.drive,
         inverted.angle,
-        angleEncoderPulsePerRevolution == 0 ? physicalCharacteristics.angleEncoderPulsePerRotation
+        angleEncoderPulsePerRevolution == 0 ? angleEncoderPulsePerRotation
                                             : angleEncoderPulsePerRevolution,
         name.replaceAll("\\.json", ""));
   }