From f0e6ad12d7a387064859815f88841d9fcf1aa181 Mon Sep 17 00:00:00 2001
From: T Grinch <10247070+thenetworkgrinch@users.noreply.github.com>
Date: Mon, 30 Jan 2023 20:27:42 +0000
Subject: [PATCH] Updated swerveparser to allow for remote integrated encoders.

---
 swervelib/SwerveParser.java | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/swervelib/SwerveParser.java b/swervelib/SwerveParser.java
index baf1594..fc67ba6 100644
--- a/swervelib/SwerveParser.java
+++ b/swervelib/SwerveParser.java
@@ -7,6 +7,7 @@ import com.fasterxml.jackson.databind.JsonNode;
 import com.fasterxml.jackson.databind.ObjectMapper;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+import com.revrobotics.SparkMaxAbsoluteEncoder.Type;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.util.Units;
@@ -184,6 +185,13 @@ public class SwerveParser
     MotorController driveMotor = createMotor(moduleJson.get("Motor").get("Drive")),
         steerMotor = createMotor(moduleJson.get("Motor").get("Steer"));
     Object encoder = createEncoder(moduleJson.get("AbsoluteEncoder"));
+    if (encoder == null)
+    {
+      if (moduleJson.get("IntegratedAbsoluteEncoder").asBoolean() && (steerMotor instanceof CANSparkMax))
+      {
+        encoder = ((CANSparkMax) steerMotor).getAbsoluteEncoder(Type.kDutyCycle);
+      }
+    }
 
     SwerveModule<?, ?, ?> module = new SwerveModule<>(driveMotor,
                                                       steerMotor,