-
-
+
+
diff --git a/src/main/java/swervelib/encoders/CanAndCoderSwerve.java b/src/main/java/swervelib/encoders/CanAndMagSwerve.java
similarity index 83%
rename from src/main/java/swervelib/encoders/CanAndCoderSwerve.java
rename to src/main/java/swervelib/encoders/CanAndMagSwerve.java
index ba977975..91000c32 100644
--- a/src/main/java/swervelib/encoders/CanAndCoderSwerve.java
+++ b/src/main/java/swervelib/encoders/CanAndMagSwerve.java
@@ -5,20 +5,20 @@
/**
* HELIUM {@link Canandmag} from ReduxRobotics absolute encoder, attached through the CAN bus.
*/
-public class CanAndCoderSwerve extends SwerveAbsoluteEncoder
+public class CanAndMagSwerve extends SwerveAbsoluteEncoder
{
/**
- * The {@link Canandmag} representing the CANandCoder on the CAN bus.
+ * The {@link Canandmag} representing the CANandMag on the CAN bus.
*/
public Canandmag encoder;
/**
* Create the {@link Canandmag}
*
- * @param canid The CAN ID whenever the CANandCoder is operating on the CANBus.
+ * @param canid The CAN ID whenever the CANandMag is operating on the CANBus.
*/
- public CanAndCoderSwerve(int canid)
+ public CanAndMagSwerve(int canid)
{
encoder = new Canandmag(canid);
}
@@ -44,7 +44,7 @@ public void clearStickyFaults()
}
/**
- * Configure the Canandcoder to read from [0, 360) per second.
+ * Configure the CANandMag to read from [0, 360) per second.
*
* @param inverted Whether the encoder is inverted.
*/
@@ -77,7 +77,7 @@ public Object getAbsoluteEncoder()
}
/**
- * Cannot set the offset of the Canandcoder.
+ * Cannot set the offset of the CANandMag.
*
* @param offset the offset the Absolute Encoder uses as the zero point.
* @return true if setting the zero point succeeded, false otherwise
diff --git a/src/main/java/swervelib/parser/json/DeviceJson.java b/src/main/java/swervelib/parser/json/DeviceJson.java
index 5a99b462..48551e50 100644
--- a/src/main/java/swervelib/parser/json/DeviceJson.java
+++ b/src/main/java/swervelib/parser/json/DeviceJson.java
@@ -11,7 +11,7 @@
import edu.wpi.first.wpilibj.SerialPort.Port;
import swervelib.encoders.AnalogAbsoluteEncoderSwerve;
import swervelib.encoders.CANCoderSwerve;
-import swervelib.encoders.CanAndCoderSwerve;
+import swervelib.encoders.CanAndMagSwerve;
import swervelib.encoders.PWMDutyCycleEncoderSwerve;
import swervelib.encoders.SparkMaxAnalogEncoderSwerve;
import swervelib.encoders.SparkMaxEncoderSwerve;
@@ -69,12 +69,14 @@ public SwerveAbsoluteEncoder createEncoder(SwerveMotor motor)
return null;
case "integrated":
case "attached":
+ case "canandmag":
case "canandcoder":
return new SparkMaxEncoderSwerve(motor, 360);
case "sparkmax_analog":
return new SparkMaxAnalogEncoderSwerve(motor, 3.3);
case "canandcoder_can":
- return new CanAndCoderSwerve(id);
+ case "canandmag_can":
+ return new CanAndMagSwerve(id);
case "ctre_mag":
case "rev_hex":
case "throughbore":