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

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();
+  }
+}