Added support for CANandCoder

swervelib/encoders/CanAndCoderSwerve.java

@@ -1,61 +1,59 @@
 package swervelib.encoders;
 
-import com.revrobotics.AbsoluteEncoder;
-import com.revrobotics.CANSparkMax;
-import com.revrobotics.SparkMaxAbsoluteEncoder.Type;
-import swervelib.motors.SwerveMotor;
+import com.reduxrobotics.sensors.canandcoder.CANandcoder;
 
 /**
- * SparkMax absolute encoder, attached through the data port.
+ * HELIUM {@link CANandcoder} from ReduxRobotics absolute encoder, attached through the CAN bus.
  */
-public class CanAndCoderSwerve extends SwerveAbsoluteEncoder {
+public class CanAndCoderSwerve extends SwerveAbsoluteEncoder
+{
 
   /**
-   * The {@link AbsoluteEncoder} representing the duty cycle encoder attached to
-   * the SparkMax.
+   * The {@link CANandcoder} representing the CANandCoder on the CAN bus.
    */
-  public AbsoluteEncoder encoder;
+  public  CANandcoder encoder;
+  /**
+   * Inversion state of the encoder.
+   */
+  private boolean     inverted = false;
 
   /**
-   * Create the {@link AbsoluteEncoder} object as a duty cycle. from the
-   * {@link CANSparkMax} motor.
+   * Create the {@link CANandcoder}
    *
-   * @param motor Motor to create the encoder from.
+   * @param canid The CAN ID whenever the CANandCoder is operating on the CANBus.
    */
-  public CanAndCoderSwerve(SwerveMotor motor) {
-    if (motor.getMotor() instanceof CANSparkMax) {
-      encoder = ((CANSparkMax) motor.getMotor()).getAbsoluteEncoder(Type.kDutyCycle);
-      encoder.setPositionConversionFactor(360);
-      encoder.setVelocityConversionFactor(360);
-    } else {
-      throw new RuntimeException("Motor given to instantiate SparkMaxEncoder is not a CANSparkMax");
-    }
+  public CanAndCoderSwerve(int canid)
+  {
+    encoder = new CANandcoder(canid);
   }
 
   /**
    * Reset the encoder to factory defaults.
    */
   @Override
-  public void factoryDefault() {
-    // Do nothing
+  public void factoryDefault()
+  {
+    encoder.resetFactoryDefaults(false);
   }
 
   /**
    * Clear sticky faults on the encoder.
    */
   @Override
-  public void clearStickyFaults() {
-    // Do nothing
+  public void clearStickyFaults()
+  {
+    encoder.clearStickyFaults();
   }
 
   /**
-   * Configure the absolute encoder to read from [0, 360) per second.
+   * Configure the CANandCoder to read from [0, 360) per second.
    *
    * @param inverted Whether the encoder is inverted.
    */
   @Override
-  public void configure(boolean inverted) {
-    encoder.setInverted(inverted);
+  public void configure(boolean inverted)
+  {
+    this.inverted = inverted;
   }
 
   /**
@@ -64,8 +62,9 @@ public class CanAndCoderSwerve extends SwerveAbsoluteEncoder {
    * @return Absolute position in degrees from [0, 360).
    */
   @Override
-  public double getAbsolutePosition() {
-    return encoder.getPosition();
+  public double getAbsolutePosition()
+  {
+    return (inverted ? -1.0 : 1.0) * encoder.getPosition() * 360;
   }
 
   /**
@@ -74,7 +73,8 @@ public class CanAndCoderSwerve extends SwerveAbsoluteEncoder {
    * @return Absolute encoder object.
    */
   @Override
-  public Object getAbsoluteEncoder() {
+  public Object getAbsoluteEncoder()
+  {
     return encoder;
   }
 }

swervelib/encoders/SparkMaxEncoderSwerve.java

@@ -19,13 +19,16 @@ public class SparkMaxEncoderSwerve extends SwerveAbsoluteEncoder
   /**
    * Create the {@link AbsoluteEncoder} object as a duty cycle. from the {@link CANSparkMax} motor.
    *
-   * @param motor Motor to create the encoder from.
+   * @param motor            Motor to create the encoder from.
+   * @param conversionFactor The conversion factor to set if the output is not from 0 to 360.
    */
-  public SparkMaxEncoderSwerve(SwerveMotor motor)
+  public SparkMaxEncoderSwerve(SwerveMotor motor, int conversionFactor)
   {
     if (motor.getMotor() instanceof CANSparkMax)
     {
       encoder = ((CANSparkMax) motor.getMotor()).getAbsoluteEncoder(Type.kDutyCycle);
+      encoder.setVelocityConversionFactor(conversionFactor);
+      encoder.setPositionConversionFactor(conversionFactor);
     } else
     {
       throw new RuntimeException("Motor given to instantiate SparkMaxEncoder is not a CANSparkMax");

swervelib/parser/json/DeviceJson.java

@@ -49,27 +49,16 @@ public class DeviceJson
    */
   public SwerveAbsoluteEncoder createEncoder(SwerveMotor motor)
   {
-    SwerveAbsoluteEncoder attachedChoice = null;
     switch (type)
     {
       case "none":
       case "integrated":
       case "attached":
-        if (motor instanceof SparkMaxBrushedMotorSwerve || motor instanceof SparkMaxSwerve)
-        {
-          attachedChoice = new SparkMaxEncoderSwerve(motor);
-          motor.setAbsoluteEncoder(attachedChoice);
-        } else if (motor instanceof TalonFXSwerve || motor instanceof TalonSRXSwerve)
-        {
-          motor.setAbsoluteEncoder(null);
-        } else
-        {
-          throw new RuntimeException(
-              "Could not create absolute encoder from data port of " + type + " id " + id);
-        }
-        return attachedChoice;
+        return null;
       case "canandcoder":
-        return new CanAndCoderSwerve(motor);
+        return new SparkMaxEncoderSwerve(motor, 360);
+      case "canandcoder_can":
+        return new CanAndCoderSwerve(id);
       case "thrifty":
       case "throughbore":
       case "dutycycle":
@@ -160,4 +149,24 @@ 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

@@ -68,6 +68,13 @@ public class ModuleJson
     SwerveMotor           angleMotor = angle.createMotor(false);
     SwerveAbsoluteEncoder absEncoder = encoder.createEncoder(angleMotor);
 
+    // If the absolute encoder is attached.
+    if (absEncoder == null)
+    {
+      absEncoder = angle.createIntegratedEncoder(angleMotor);
+      angleMotor.setAbsoluteEncoder(absEncoder);
+    }
+
     return new SwerveModuleConfiguration(
         drive.createMotor(true),
         angleMotor,