Add support for using PWM encoders plugged into the motor controller …

build.gradle

@@ -15,7 +15,7 @@ java {
 }
 
 // set a valid semver version
-version = '4.1.2'
+version = '5.0.0'
 
 repositories {
     mavenCentral()

src/main/java/ca/team1310/swerve/core/SwerveModuleImpl.java

@@ -1,5 +1,6 @@
 package ca.team1310.swerve.core;
 
+import ca.team1310.swerve.core.config.EncoderType;
 import ca.team1310.swerve.core.config.ModuleConfig;
 import ca.team1310.swerve.core.hardware.cancoder.CanCoder;
 import ca.team1310.swerve.core.hardware.rev.neospark.NSFAngleMotor;
@@ -14,7 +15,6 @@
 class SwerveModuleImpl implements SwerveModule {
 
   private static final double ANGLE_ENCODER_SYNC_PERIOD_MS = 500;
-  private final Notifier encoderSynchronizer = new Notifier(this::syncAngleEncoder);
 
   private final String name;
   private final Coordinates location;
@@ -40,10 +40,15 @@ class SwerveModuleImpl implements SwerveModule {
     measuredState.setLocation(cfg.location());
     this.driveMotor = getDriveMotor(cfg, maxAttainableModuleSpeedMps);
     this.angleMotor = getAngleMotor(cfg);
-    this.angleEncoder = getAbsoluteAngleEncoder(cfg);
-
-    this.encoderSynchronizer.setName("RunnymedeSwerve Angle Encoder Sync " + name);
-    this.encoderSynchronizer.startPeriodic(ANGLE_ENCODER_SYNC_PERIOD_MS / 1000);
+    if (cfg.absoluteAngleEncoderConfig().type() == EncoderType.CANCODER)
+      this.angleEncoder = getAbsoluteAngleEncoder(cfg);
+    else this.angleEncoder = null;
+
+    if (angleEncoder != null) {
+      Notifier encoderSynchronizer = new Notifier(this::syncAngleEncoder);
+      encoderSynchronizer.setName("RunnymedeSwerve Angle Encoder Sync " + name);
+      encoderSynchronizer.startPeriodic(ANGLE_ENCODER_SYNC_PERIOD_MS / 1000);
+    }
 
     driveMotorFaultPresent =
         new Alert("Swerve Drive Motor [" + name + "] Fault Present", Alert.AlertType.kError);
@@ -77,8 +82,12 @@ private DriveMotor getDriveMotor(ModuleConfig cfg, double maxAttainableModuleSpe
 
   private AngleMotor getAngleMotor(ModuleConfig cfg) {
     return switch (cfg.angleMotorConfig().type()) {
-      case NEO_SPARK_FLEX -> new NSFAngleMotor(cfg.angleMotorCanId(), cfg.angleMotorConfig());
-      case NEO_SPARK_MAX -> new NSMAngleMotor(cfg.angleMotorCanId(), cfg.angleMotorConfig());
+      case NEO_SPARK_FLEX ->
+          new NSFAngleMotor(
+              cfg.angleMotorCanId(), cfg.angleMotorConfig(), cfg.absoluteAngleEncoderConfig());
+      case NEO_SPARK_MAX ->
+          new NSMAngleMotor(
+              cfg.angleMotorCanId(), cfg.angleMotorConfig(), cfg.absoluteAngleEncoderConfig());
     };
   }
 
@@ -108,7 +117,7 @@ public synchronized void readState() {
   public synchronized void readVerboseState() {
     measuredState.setVelocity(driveMotor.getVelocity());
     measuredState.setDriveOutputPower(driveMotor.getMeasuredVoltage());
-    measuredState.setAbsoluteEncoderAngle(angleEncoder.getPosition());
+    measuredState.setAbsoluteEncoderAngle(angleMotor.getPosition());
   }
 
   public synchronized ModuleState getState() {
@@ -138,7 +147,8 @@ public synchronized void setDesiredState(ModuleDirective desiredState) {
   public boolean checkFaults() {
     boolean driveFaults = driveMotor.hasFaults();
     boolean angleFaults = angleMotor.hasFaults();
-    boolean angleEncoderFaults = angleEncoder.hasFaults();
+    boolean angleEncoderFaults = false;
+    if (angleEncoder != null) angleEncoderFaults = angleEncoder.hasFaults();
 
     driveMotorFaultPresent.set(driveFaults);
     angleMotorFaultPresent.set(angleFaults);

src/main/java/ca/team1310/swerve/core/config/EncoderConfig.java

@@ -3,8 +3,19 @@
 /**
  * Configuration for the encoder.
  *
+ * @param type the type of encoder, either Cancoder or Integrated encoder
  * @param inverted true if the encoder is upside down with respect to its expected orientation
  * @param retrySeconds how long to wait before retrying communication with the encoder
  * @param retryCount how many times to retry communication with the encoder
  */
-public record EncoderConfig(boolean inverted, double retrySeconds, int retryCount) {}
+public record EncoderConfig(
+    EncoderType type, boolean inverted, double retrySeconds, int retryCount) {
+
+  public static EncoderConfig cancoder(boolean inverted, double retrySeconds, int retryCount) {
+    return new EncoderConfig(EncoderType.CANCODER, inverted, retrySeconds, retryCount);
+  }
+
+  public static EncoderConfig integrated(boolean inverted) {
+    return new EncoderConfig(EncoderType.INTEGRATED, inverted, 0, 0);
+  }
+}

src/main/java/ca/team1310/swerve/core/config/EncoderType.java

@@ -0,0 +1,9 @@
+package ca.team1310.swerve.core.config;
+
+/** The type of motor used in the swerve drive. */
+public enum EncoderType {
+  /** A CTRE CANcoder. */
+  CANCODER,
+  /** An encoder plugged directly into the angle motor controller */
+  INTEGRATED
+}

src/main/java/ca/team1310/swerve/core/hardware/rev/neospark/NSAngleMotor.java

@@ -5,6 +5,8 @@
 import static ca.team1310.swerve.utils.SwerveUtils.normalizeDegrees;
 
 import ca.team1310.swerve.core.AngleMotor;
+import ca.team1310.swerve.core.config.EncoderConfig;
+import ca.team1310.swerve.core.config.EncoderType;
 import ca.team1310.swerve.core.config.MotorConfig;
 import com.revrobotics.spark.FeedbackSensor;
 import com.revrobotics.spark.SparkBase;
@@ -27,8 +29,9 @@ public abstract class NSAngleMotor<T extends SparkBase> extends NSBase<T> implem
    *
    * @param spark The spark motor controller
    * @param cfg The configuration of the motor
+   * @param encoderConfig the configuration of the absolute encoder
    */
-  public NSAngleMotor(T spark, MotorConfig cfg) {
+  public NSAngleMotor(T spark, MotorConfig cfg, EncoderConfig encoderConfig) {
     super(spark);
     SparkMaxConfig config = new SparkMaxConfig();
     config.inverted(cfg.inverted());
@@ -83,13 +86,16 @@ public NSAngleMotor(T spark, MotorConfig cfg) {
     // configure PID controller
     config
         .closedLoop
-        .feedbackSensor(FeedbackSensor.kPrimaryEncoder)
         .pidf(cfg.p(), cfg.i(), cfg.d(), cfg.ff())
         .iZone(cfg.izone())
         .outputRange(-180, 180)
         .positionWrappingEnabled(true)
         .positionWrappingInputRange(-180, 180);
 
+    if (encoderConfig.type() == EncoderType.INTEGRATED)
+      config.closedLoop.feedbackSensor(FeedbackSensor.kAbsoluteEncoder);
+    else config.closedLoop.feedbackSensor(FeedbackSensor.kPrimaryEncoder);
+
     // send them to the motor
     doWithRetry(
         () ->

src/main/java/ca/team1310/swerve/core/hardware/rev/neospark/NSFAngleMotor.java

@@ -1,5 +1,6 @@
 package ca.team1310.swerve.core.hardware.rev.neospark;
 
+import ca.team1310.swerve.core.config.EncoderConfig;
 import ca.team1310.swerve.core.config.MotorConfig;
 import com.revrobotics.spark.SparkFlex;
 import com.revrobotics.spark.SparkLowLevel;
@@ -15,8 +16,9 @@ public class NSFAngleMotor extends NSAngleMotor<SparkFlex> {
    *
    * @param canId The CAN ID of the motor
    * @param cfg The configuration of the motor
+   * @param encoderConfig the configuration of the absolute encoder
    */
-  public NSFAngleMotor(int canId, MotorConfig cfg) {
-    super(new SparkFlex(canId, SparkLowLevel.MotorType.kBrushless), cfg);
+  public NSFAngleMotor(int canId, MotorConfig cfg, EncoderConfig encoderConfig) {
+    super(new SparkFlex(canId, SparkLowLevel.MotorType.kBrushless), cfg, encoderConfig);
   }
 }

src/main/java/ca/team1310/swerve/core/hardware/rev/neospark/NSMAngleMotor.java

@@ -1,5 +1,6 @@
 package ca.team1310.swerve.core.hardware.rev.neospark;
 
+import ca.team1310.swerve.core.config.EncoderConfig;
 import ca.team1310.swerve.core.config.MotorConfig;
 import com.revrobotics.spark.SparkLowLevel;
 import com.revrobotics.spark.SparkMax;
@@ -15,8 +16,9 @@ public class NSMAngleMotor extends NSAngleMotor<SparkMax> {
    *
    * @param canId The CAN ID of the motor
    * @param cfg The configuration of the motor
+   * @param encoderConfig the configuration of the absolute encoder
    */
-  public NSMAngleMotor(int canId, MotorConfig cfg) {
-    super(new SparkMax(canId, SparkLowLevel.MotorType.kBrushless), cfg);
+  public NSMAngleMotor(int canId, MotorConfig cfg, EncoderConfig encoderConfig) {
+    super(new SparkMax(canId, SparkLowLevel.MotorType.kBrushless), cfg, encoderConfig);
   }
 }