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SetPositionOffset was added. Been requested multiple times, and easy to implement. The javadocs mentioned GetPositionInRotation. It has tripped up many people how to get the absolute position from the encoder (You currently have to have precreated the DutyCycle object). Add this method (as GetAbsolutePostition) to make this easier to do. The checks for making sure a matching set of values was read was doing direct double comparisions. This worked ok in the DutyCycle case, but has problems in the analog case. Solve this by using an epsilon comparison. And finally, scale AnalogEncoders analog input to 0-1 instead of 0-5. This was reported a few years ago, but the issue was missed. This caused the encoder to count from 0-5, then 1-6, then 2-7 etc. This is solved and now works correctly. Closes #3188 Closes #4046 Closes #4051 And fixes the following issue on CD https://www.chiefdelphi.com/t/wpilib-analogencoder-java/372649