diff --git a/src/main/java/swervelib/SwerveModule.java b/src/main/java/swervelib/SwerveModule.java
index 15312cea..202a64d6 100644
--- a/src/main/java/swervelib/SwerveModule.java
+++ b/src/main/java/swervelib/SwerveModule.java
@@ -1,5 +1,7 @@
 package swervelib;
 
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.MotorFeedbackSensor;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
@@ -591,13 +593,23 @@ public void pushOffsetsToEncoders()
   {
     if (absoluteEncoder != null && angleOffset == configuration.angleOffset)
     {
-      if (absoluteEncoder.setAbsoluteEncoderOffset(angleOffset))
+      // If the absolute encoder is attached.
+      if (angleMotor.getMotor() instanceof CANSparkMax)
       {
-        angleOffset = 0;
-      } else
-      {
-        encoderOffsetWarning.set(true);
+        if (absoluteEncoder.getAbsoluteEncoder() instanceof MotorFeedbackSensor)
+        {
+          angleMotor.setAbsoluteEncoder(absoluteEncoder);
+          if (absoluteEncoder.setAbsoluteEncoderOffset(angleOffset))
+          {
+            angleOffset = 0;
+          } else
+          {
+            angleMotor.setAbsoluteEncoder(null);
+            encoderOffsetWarning.set(true);
+          }
+        }
       }
+
     } else
     {
       noEncoderWarning.set(true);
diff --git a/src/main/java/swervelib/encoders/CanAndCoderSwerve.java b/src/main/java/swervelib/encoders/CanAndCoderSwerve.java
index 1c6b7b13..ba977975 100644
--- a/src/main/java/swervelib/encoders/CanAndCoderSwerve.java
+++ b/src/main/java/swervelib/encoders/CanAndCoderSwerve.java
@@ -1,26 +1,26 @@
 package swervelib.encoders;
 
-import com.reduxrobotics.sensors.canandcoder.Canandcoder;
+import com.reduxrobotics.sensors.canandmag.Canandmag;
 
 /**
- * HELIUM {@link Canandcoder} from ReduxRobotics absolute encoder, attached through the CAN bus.
+ * HELIUM {@link Canandmag} from ReduxRobotics absolute encoder, attached through the CAN bus.
  */
 public class CanAndCoderSwerve extends SwerveAbsoluteEncoder
 {
 
   /**
-   * The {@link Canandcoder} representing the CANandCoder on the CAN bus.
+   * The {@link Canandmag} representing the CANandCoder on the CAN bus.
    */
-  public Canandcoder encoder;
+  public Canandmag encoder;
 
   /**
-   * Create the {@link Canandcoder}
+   * Create the {@link Canandmag}
    *
    * @param canid The CAN ID whenever the CANandCoder is operating on the CANBus.
    */
   public CanAndCoderSwerve(int canid)
   {
-    encoder = new Canandcoder(canid);
+    encoder = new Canandmag(canid);
   }
 
   /**
@@ -51,7 +51,7 @@ public void clearStickyFaults()
   @Override
   public void configure(boolean inverted)
   {
-    encoder.setSettings(new Canandcoder.Settings().setInvertDirection(inverted));
+    encoder.setSettings(new Canandmag.Settings().setInvertDirection(inverted));
   }
 
   /**
@@ -85,7 +85,7 @@ public Object getAbsoluteEncoder()
   @Override
   public boolean setAbsoluteEncoderOffset(double offset)
   {
-    return encoder.setSettings(new Canandcoder.Settings().setZeroOffset(offset));
+    return encoder.setSettings(new Canandmag.Settings().setZeroOffset(offset));
   }
 
   /**
diff --git a/src/main/java/swervelib/motors/SparkFlexSwerve.java b/src/main/java/swervelib/motors/SparkFlexSwerve.java
index 0c96826a..40a27702 100644
--- a/src/main/java/swervelib/motors/SparkFlexSwerve.java
+++ b/src/main/java/swervelib/motors/SparkFlexSwerve.java
@@ -200,7 +200,11 @@ public void clearStickyFaults()
   @Override
   public SwerveMotor setAbsoluteEncoder(SwerveAbsoluteEncoder encoder)
   {
-    if (encoder.getAbsoluteEncoder() instanceof MotorFeedbackSensor)
+    if (encoder == null)
+    {
+      absoluteEncoder = null;
+      configureSparkFlex(() -> pid.setFeedbackDevice(this.encoder));
+    } else if (encoder.getAbsoluteEncoder() instanceof MotorFeedbackSensor)
     {
       absoluteEncoderOffsetWarning.set(true);
       absoluteEncoder = encoder;
diff --git a/src/main/java/swervelib/motors/SparkMaxBrushedMotorSwerve.java b/src/main/java/swervelib/motors/SparkMaxBrushedMotorSwerve.java
index bb33fc4c..d8fb2a8a 100644
--- a/src/main/java/swervelib/motors/SparkMaxBrushedMotorSwerve.java
+++ b/src/main/java/swervelib/motors/SparkMaxBrushedMotorSwerve.java
@@ -237,7 +237,11 @@ public void clearStickyFaults()
   @Override
   public SwerveMotor setAbsoluteEncoder(SwerveAbsoluteEncoder encoder)
   {
-    if (encoder.getAbsoluteEncoder() instanceof AbsoluteEncoder)
+    if (encoder == null)
+    {
+      absoluteEncoder = null;
+      configureSparkMax(() -> pid.setFeedbackDevice(this.encoder));
+    } else if (encoder.getAbsoluteEncoder() instanceof AbsoluteEncoder)
     {
       absoluteEncoder = (AbsoluteEncoder) encoder.getAbsoluteEncoder();
       configureSparkMax(() -> pid.setFeedbackDevice(absoluteEncoder));
diff --git a/src/main/java/swervelib/motors/SparkMaxSwerve.java b/src/main/java/swervelib/motors/SparkMaxSwerve.java
index aa19a0cf..a2c421e1 100644
--- a/src/main/java/swervelib/motors/SparkMaxSwerve.java
+++ b/src/main/java/swervelib/motors/SparkMaxSwerve.java
@@ -192,10 +192,16 @@ public void clearStickyFaults()
   @Override
   public SwerveMotor setAbsoluteEncoder(SwerveAbsoluteEncoder encoder)
   {
-    if (encoder.getAbsoluteEncoder() instanceof MotorFeedbackSensor)
+    if (encoder == null)
+    {
+      absoluteEncoder = null;
+      configureSparkMax(() -> pid.setFeedbackDevice(this.encoder));
+      velocity = this.encoder::getVelocity;
+      position = this.encoder::getPosition;
+    } else if (encoder.getAbsoluteEncoder() instanceof MotorFeedbackSensor)
     {
       DriverStation.reportWarning(
-          "IF possible configure the duty cycle encoder offset in the REV Hardware Client instead of using the" +
+          "IF possible configure the encoder offset in the REV Hardware Client instead of using the" +
           " absoluteEncoderOffset in the Swerve Module JSON!",
           false);
       absoluteEncoder = encoder;
diff --git a/src/main/java/swervelib/parser/json/ModuleJson.java b/src/main/java/swervelib/parser/json/ModuleJson.java
index 5eb34713..4e89652b 100644
--- a/src/main/java/swervelib/parser/json/ModuleJson.java
+++ b/src/main/java/swervelib/parser/json/ModuleJson.java
@@ -81,15 +81,6 @@ public SwerveModuleConfiguration createModuleConfiguration(
     SwerveMotor           angleMotor = angle.createMotor(false);
     SwerveAbsoluteEncoder absEncoder = encoder.createEncoder(angleMotor);
 
-    // If the absolute encoder is attached.
-    if (absEncoder != null && angleMotor.getMotor() instanceof CANSparkMax)
-    {
-      if (absEncoder.getAbsoluteEncoder() instanceof MotorFeedbackSensor)
-      {
-        angleMotor.setAbsoluteEncoder(absEncoder);
-      }
-    }
-
     // Setup deprecation notice.
 //    if (this.conversionFactor.drive != 0 && this.conversionFactor.angle != 0)
 //    {