YAGSL/swervelib/encoders/SparkMaxEncoderSwerve.java

package swervelib.encoders;

import com.revrobotics.AbsoluteEncoder;
import com.revrobotics.CANSparkMax;
import com.revrobotics.SparkMaxAbsoluteEncoder.Type;
import swervelib.motors.SwerveMotor;

/**
 * SparkMax absolute encoder, attached through the data port.
 */
public class SparkMaxEncoderSwerve extends SwerveAbsoluteEncoder
{

  /**
   * The {@link AbsoluteEncoder} representing the duty cycle encoder attached to the SparkMax.
   */
  public AbsoluteEncoder encoder;

  /**
   * Create the {@link AbsoluteEncoder} object as a duty cycle. from the {@link CANSparkMax} motor.
   *
   * @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, 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");
    }
  }

  /**
   * 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;
  }
}