This repository was archived by the owner on Dec 24, 2025. It is now read-only.
This repository was archived by the owner on Dec 24, 2025. It is now read-only.
No support for attached absolute encoder on SparkFlex motor controller #16
Description
No support for an absolute encoder connected over the SparkFlex motor controller data port. The "Absolute Encoders" page in the docs does not specifically call out a specific differentiation between a CANSparkMax and a SparkFlex. Attached is the stacktrace when attempting construction with the encoder type in the module configs set as "attached".
********** Robot program starting **********
NT: Listening on NT3 port 1735, NT4 port 5810
Error at swervelib.encoders.SparkMaxEncoderSwerve.<init>(SparkMaxEncoderSwerve.java:63): Unhandled exception instantiating robot swervelib.encoders.SparkMaxEncoderSwerve java.lang.RuntimeException: Motor given to instantiate SparkMaxEncoder is not a CANSparkMax
at swervelib.encoders.SparkMaxEncoderSwerve.<init>(SparkMaxEncoderSwerve.java:63)
at swervelib.parser.json.DeviceJson.createEncoder(DeviceJson.java:82)
at swervelib.parser.json.ModuleJson.createModuleConfiguration(ModuleJson.java:76)
at swervelib.parser.SwerveParser.createSwerveDrive(SwerveParser.java:185)
at frc.robot.subsystems.SwerveDriveYAGSL.<init>(SwerveDriveYAGSL.java:25)
at frc.robot.RobotContainer.<init>(RobotContainer.java:21)
at frc.robot.Robot.<init>(Robot.java:17)
at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:370)
at edu.wpi.first.wpilibj.RobotBase.lambda$startRobot$1(RobotBase.java:490)
at java.base/java.lang.Thread.run(Thread.java:840)
Error at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:383): The robot program quit unexpectedly. This is usually due to a code error.
The above stacktrace can help determine where the error occurred.
See https://wpilib.org/stacktrace for more information.
Error at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:389): Could not instantiate robot swervelib.encoders.SparkMaxEncoderSwerve!