Added new SparkMAX analog encoder option, fixed 'none' absolute encoder type

swervelib/encoders/AnalogAbsoluteEncoderSwerve.java

@@ -1,6 +1,7 @@
 package swervelib.encoders;
 
 import edu.wpi.first.wpilibj.AnalogInput;
+import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.RobotController;
 
 /**
@@ -89,4 +90,16 @@ public class AnalogAbsoluteEncoderSwerve extends SwerveAbsoluteEncoder
   {
     return encoder;
   }
+
+  /**
+   * Get the velocity in degrees/sec.
+   *
+   * @return velocity in degrees/sec.
+   */
+  @Override
+  public double getVelocity()
+  {
+    DriverStation.reportWarning("The Analog Absolute encoder may not report accurate velocities!",true);
+    return encoder.getValue();
+  }
 }

swervelib/encoders/CANCoderSwerve.java

@@ -137,4 +137,15 @@ public class CANCoderSwerve extends SwerveAbsoluteEncoder
   {
     return encoder;
   }
+
+  /**
+   * Get the velocity in degrees/sec.
+   *
+   * @return velocity in degrees/sec.
+   */
+  @Override
+  public double getVelocity()
+  {
+    return encoder.getVelocity();
+  }
 }

swervelib/encoders/CanAndCoderSwerve.java

@@ -77,4 +77,15 @@ public class CanAndCoderSwerve extends SwerveAbsoluteEncoder
   {
     return encoder;
   }
+
+  /**
+   * Get the velocity in degrees/sec.
+   *
+   * @return velocity in degrees/sec.
+   */
+  @Override
+  public double getVelocity()
+  {
+    return encoder.getVelocity();
+  }
 }

swervelib/encoders/PWMDutyCycleEncoderSwerve.java

@@ -1,5 +1,6 @@
 package swervelib.encoders;
 
+import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DutyCycleEncoder;
 
 /**
@@ -65,6 +66,18 @@ public class PWMDutyCycleEncoderSwerve extends SwerveAbsoluteEncoder
     return encoder;
   }
 
+  /**
+   * Get the velocity in degrees/sec.
+   *
+   * @return velocity in degrees/sec.
+   */
+  @Override
+  public double getVelocity()
+  {
+    DriverStation.reportWarning("The PWM Duty Cycle encoder may not report accurate velocities!", true);
+    return encoder.get();
+  }
+
   /**
    * Reset the encoder to factory defaults.
    */

swervelib/encoders/SparkMaxAnalogEncoderSwerve.java

@@ -0,0 +1,117 @@
+package swervelib.encoders;
+
+import com.revrobotics.AbsoluteEncoder;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.REVLibError;
+import com.revrobotics.SparkMaxAnalogSensor;
+import com.revrobotics.SparkMaxAnalogSensor.Mode;
+import edu.wpi.first.wpilibj.DriverStation;
+import java.util.function.Supplier;
+import swervelib.motors.SwerveMotor;
+
+/**
+ * SparkMax absolute encoder, attached through the data port analog pin.
+ */
+public class SparkMaxAnalogEncoderSwerve extends SwerveAbsoluteEncoder
+{
+
+  /**
+   * The {@link AbsoluteEncoder} representing the duty cycle encoder attached to the SparkMax.
+   */
+  public SparkMaxAnalogSensor encoder;
+
+  /**
+   * Create the {@link SparkMaxAnalogEncoderSwerve} object as a analog sensor from the {@link CANSparkMax} motor data port analog pin.
+   *
+   * @param motor            Motor to create the encoder from.
+   */
+  public SparkMaxAnalogEncoderSwerve(SwerveMotor motor)
+  {
+    if (motor.getMotor() instanceof CANSparkMax)
+    {
+      encoder = ((CANSparkMax) motor.getMotor()).getAnalog(Mode.kAbsolute);
+    } else
+    {
+      throw new RuntimeException("Motor given to instantiate SparkMaxEncoder is not a CANSparkMax");
+    }
+  }
+
+  /**
+   * Run the configuration until it succeeds or times out.
+   *
+   * @param config Lambda supplier returning the error state.
+   */
+  private void configureSparkMax(Supplier<REVLibError> config)
+  {
+    for (int i = 0; i < maximumRetries; i++)
+    {
+      if (config.get() == REVLibError.kOk)
+      {
+        return;
+      }
+    }
+    DriverStation.reportWarning("Failure configuring encoder", true);
+  }
+
+  /**
+   * 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;
+  }
+
+  /**
+   * Get the velocity in degrees/sec.
+   *
+   * @return velocity in degrees/sec.
+   */
+  @Override
+  public double getVelocity()
+  {
+    return encoder.getVelocity();
+  }
+}

swervelib/encoders/SparkMaxEncoderSwerve.java

@@ -105,4 +105,15 @@ public class SparkMaxEncoderSwerve extends SwerveAbsoluteEncoder
   {
     return encoder;
   }
+
+  /**
+   * Get the velocity in degrees/sec.
+   *
+   * @return velocity in degrees/sec.
+   */
+  @Override
+  public double getVelocity()
+  {
+    return encoder.getVelocity();
+  }
 }

swervelib/encoders/SwerveAbsoluteEncoder.java

@@ -45,4 +45,10 @@ public abstract class SwerveAbsoluteEncoder
    * @return Absolute encoder object.
    */
   public abstract Object getAbsoluteEncoder();
+
+  /**
+   * Get the velocity in degrees/sec.
+   * @return velocity in degrees/sec.
+   */
+  public abstract double getVelocity();
 }

swervelib/math/SwerveMath.java

@@ -24,8 +24,8 @@ public class SwerveMath
 {
 
   /**
-   * Calculate the meters per rotation for the integrated encoder. Calculation: 4in diameter wheels * pi [circumfrence]
-   * / gear ratio.
+   * Calculate the meters per rotation for the integrated encoder. Calculation: (PI * WHEEL DIAMETER IN METERS) / (GEAR
+   * RATIO * ENCODER RESOLUTION)
    *
    * @param wheelDiameter    Wheel diameter in meters.
    * @param driveGearRatio   The gear ratio of the drive motor.

swervelib/motors/SparkMaxSwerve.java

@@ -6,8 +6,10 @@ import com.revrobotics.CANSparkMax.ControlType;
 import com.revrobotics.CANSparkMax.IdleMode;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 import com.revrobotics.CANSparkMaxLowLevel.PeriodicFrame;
+import com.revrobotics.MotorFeedbackSensor;
 import com.revrobotics.REVLibError;
 import com.revrobotics.RelativeEncoder;
+import com.revrobotics.SparkMaxAnalogSensor;
 import com.revrobotics.SparkMaxPIDController;
 import edu.wpi.first.wpilibj.DriverStation;
 import java.util.function.Supplier;
@@ -31,7 +33,7 @@ public class SparkMaxSwerve extends SwerveMotor
   /**
    * Absolute encoder attached to the SparkMax (if exists)
    */
-  public  AbsoluteEncoder       absoluteEncoder;
+  public  SwerveAbsoluteEncoder absoluteEncoder;
   /**
    * Closed-loop PID controller.
    */
@@ -179,14 +181,14 @@ public class SparkMaxSwerve extends SwerveMotor
   @Override
   public SwerveMotor setAbsoluteEncoder(SwerveAbsoluteEncoder encoder)
   {
-    if (encoder.getAbsoluteEncoder() instanceof AbsoluteEncoder)
+    if (encoder.getAbsoluteEncoder() instanceof MotorFeedbackSensor)
     {
       DriverStation.reportWarning(
           "IF possible configure the duty cycle encoder offset in the REV Hardware Client instead of using the" +
           " absoluteEncoderOffset in the Swerve Module JSON!",
           false);
-      absoluteEncoder = (AbsoluteEncoder) encoder.getAbsoluteEncoder();
-      configureSparkMax(() -> pid.setFeedbackDevice(absoluteEncoder));
+      absoluteEncoder = encoder;
+      configureSparkMax(() -> pid.setFeedbackDevice((MotorFeedbackSensor) absoluteEncoder.getAbsoluteEncoder()));
     }
     return this;
   }
@@ -209,8 +211,24 @@ public class SparkMaxSwerve extends SwerveMotor
       configureCANStatusFrames(10, 20, 20, 500, 500);
     } else
     {
-      configureSparkMax(() -> absoluteEncoder.setPositionConversionFactor(positionConversionFactor));
-      configureSparkMax(() -> absoluteEncoder.setVelocityConversionFactor(positionConversionFactor / 60));
+      configureSparkMax(() -> {
+        if (absoluteEncoder.getAbsoluteEncoder() instanceof AbsoluteEncoder)
+        {
+          return ((AbsoluteEncoder) absoluteEncoder.getAbsoluteEncoder()).setPositionConversionFactor(positionConversionFactor);
+        } else
+        {
+          return ((SparkMaxAnalogSensor)absoluteEncoder.getAbsoluteEncoder()).setPositionConversionFactor(positionConversionFactor);
+        }
+      });
+      configureSparkMax(() -> {
+        if (absoluteEncoder.getAbsoluteEncoder() instanceof AbsoluteEncoder)
+        {
+          return ((AbsoluteEncoder) absoluteEncoder.getAbsoluteEncoder()).setVelocityConversionFactor(positionConversionFactor / 60);
+        } else
+        {
+          return ((SparkMaxAnalogSensor)absoluteEncoder.getAbsoluteEncoder()).setVelocityConversionFactor(positionConversionFactor / 60);
+        }
+      });
     }
   }
 
@@ -381,7 +399,7 @@ public class SparkMaxSwerve extends SwerveMotor
   @Override
   public double getPosition()
   {
-    return absoluteEncoder == null ? encoder.getPosition() : absoluteEncoder.getPosition();
+    return absoluteEncoder == null ? encoder.getPosition() : absoluteEncoder.getAbsolutePosition();
   }
 
   /**

swervelib/parser/SwerveControllerConfiguration.java

@@ -23,8 +23,10 @@ public class SwerveControllerConfiguration
   public       double     maxAngularVelocity;
 
   /**
-   * Construct the swerve controller configuration.
+   * Construct the swerve controller configuration. Assumes robot is square to fetch maximum angular velocity.
    *
+   * @param driveCfg                    {@link SwerveDriveConfiguration} to fetch the first module X and Y used to
+   *                                    calculate the maximum angular velocity.
    * @param headingPIDF                 Heading PIDF configuration.
    * @param angleJoyStickRadiusDeadband Deadband on radius of angle joystick.
    * @param maxSpeedMPS                 Maximum speed in meters per second for angular velocity, remember if you have

swervelib/parser/SwerveDriveConfiguration.java

@@ -39,10 +39,11 @@ public class SwerveDriveConfiguration
   /**
    * Create swerve drive configuration.
    *
-   * @param moduleConfigs    Module configuration.
-   * @param swerveIMU        Swerve IMU.
-   * @param invertedIMU      Invert the IMU.
-   * @param driveFeedforward The drive motor feedforward to use for the {@link SwerveModule}.
+   * @param moduleConfigs           Module configuration.
+   * @param swerveIMU               Swerve IMU.
+   * @param invertedIMU             Invert the IMU.
+   * @param driveFeedforward        The drive motor feedforward to use for the {@link SwerveModule}.
+   * @param physicalCharacteristics {@link SwerveModulePhysicalCharacteristics} to store in association with self.
    */
   public SwerveDriveConfiguration(
       SwerveModuleConfiguration[] moduleConfigs,

swervelib/parser/SwerveModuleConfiguration.java

@@ -17,7 +17,7 @@ public class SwerveModuleConfiguration
    * {@link swervelib.math.SwerveMath#calculateDegreesPerSteeringRotation(double, double)} respectively to calculate the
    * conversion factors.
    */
-  public final MotorConfigDouble conversionFactors;
+  public final MotorConfigDouble                   conversionFactors;
   /**
    * Angle offset in degrees for the Swerve Module.
    */
@@ -79,6 +79,7 @@ public class SwerveModuleConfiguration
    * @param velocityPIDF            Velocity PIDF configuration.
    * @param physicalCharacteristics Physical characteristics of the swerve module.
    * @param name                    The name for the swerve module.
+   * @param conversionFactors       Conversion factors to be applied to the drive and angle motors.
    */
   public SwerveModuleConfiguration(
       SwerveMotor driveMotor,

swervelib/parser/json/DeviceJson.java

@@ -9,6 +9,7 @@ import swervelib.encoders.AnalogAbsoluteEncoderSwerve;
 import swervelib.encoders.CANCoderSwerve;
 import swervelib.encoders.CanAndCoderSwerve;
 import swervelib.encoders.PWMDutyCycleEncoderSwerve;
+import swervelib.encoders.SparkMaxAnalogEncoderSwerve;
 import swervelib.encoders.SparkMaxEncoderSwerve;
 import swervelib.encoders.SwerveAbsoluteEncoder;
 import swervelib.imu.ADIS16448Swerve;
@@ -61,9 +62,12 @@ public class DeviceJson
     switch (type)
     {
       case "none":
+        return null;
       case "integrated":
       case "attached":
-        return null;
+        return new SparkMaxEncoderSwerve(motor, 1);
+      case "sparkmax_analog":
+        return new SparkMaxAnalogEncoderSwerve(motor);
       case "canandcoder":
         return new SparkMaxEncoderSwerve(motor, 360);
       case "canandcoder_can":
@@ -180,24 +184,4 @@ public class DeviceJson
         throw new RuntimeException(type + " is not a recognized absolute encoder type.");
     }
   }
-
-  /**
-   * Create a {@link SwerveAbsoluteEncoder} from the data port on the motor controller.
-   *
-   * @param motor The motor to create the absolute encoder from.
-   * @return {@link SwerveAbsoluteEncoder} from the motor controller.
-   */
-  public SwerveAbsoluteEncoder createIntegratedEncoder(SwerveMotor motor)
-  {
-    switch (type)
-    {
-      case "sparkmax":
-        return new SparkMaxEncoderSwerve(motor, 1);
-      case "falcon":
-      case "talonfx":
-        return null;
-    }
-    throw new RuntimeException(
-        "Could not create absolute encoder from data port of " + type + " id " + id);
-  }
 }

swervelib/parser/json/ModuleJson.java

@@ -1,5 +1,7 @@
 package swervelib.parser.json;
 
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.MotorFeedbackSensor;
 import edu.wpi.first.math.util.Units;
 import swervelib.encoders.SwerveAbsoluteEncoder;
 import swervelib.motors.SwerveMotor;
@@ -30,7 +32,7 @@ public class ModuleJson
    * {@link swervelib.math.SwerveMath#calculateDegreesPerSteeringRotation(double, double)} for angle motors or
    * {@link swervelib.math.SwerveMath#calculateMetersPerRotation(double, double, double)} for drive motors.
    */
-  public MotorConfigDouble conversionFactor = new MotorConfigDouble(0, 0);
+  public MotorConfigDouble conversionFactor        = new MotorConfigDouble(0, 0);
   /**
    * Absolute encoder device configuration.
    */
@@ -71,10 +73,12 @@ public class ModuleJson
     SwerveAbsoluteEncoder absEncoder = encoder.createEncoder(angleMotor);
 
     // If the absolute encoder is attached.
-    if (absEncoder == null)
+    if (absEncoder != null && angleMotor.getMotor() instanceof CANSparkMax)
     {
-      absEncoder = angle.createIntegratedEncoder(angleMotor);
-      angleMotor.setAbsoluteEncoder(absEncoder);
+      if (absEncoder.getAbsoluteEncoder() instanceof MotorFeedbackSensor)
+      {
+        angleMotor.setAbsoluteEncoder(absEncoder);
+      }
     }
 
     // Set the conversion factors to null if they are both 0.