removed all instances of cancoders

src/main/java/frc/robot/subsystems/swervev3/io/SparkMaxModuleIO.java

@@ -1,6 +1,6 @@
 package frc.robot.subsystems.swervev3.io;
 
-import com.ctre.phoenix.sensors.WPI_CANCoder;
+import com.ctre.phoenix6.hardware.CANcoder;
 import com.revrobotics.CANSparkMax;
 import frc.robot.constants.Constants;
 import frc.robot.swervev2.KinematicsConversionConfig;
@@ -11,13 +11,13 @@
 public class SparkMaxModuleIO implements ModuleIO {
     private final CANSparkMax driveMotor;
     private final CANSparkMax steerMotor;
-    private final WPI_CANCoder absEncoder;
+    private final CANcoder absEncoder;
     private final AtomicLong steerOffset = new AtomicLong(0);
 
     public SparkMaxModuleIO(SwerveIdConfig motorConfig, KinematicsConversionConfig conversionConfig, boolean driveInverted, boolean steerInverted) {
         driveMotor = new CANSparkMax(motorConfig.getDriveMotorId(), CANSparkMax.MotorType.kBrushless);
         steerMotor = new CANSparkMax(motorConfig.getTurnMotorId(), CANSparkMax.MotorType.kBrushless);
-        absEncoder = new WPI_CANCoder(motorConfig.getCanCoderId());
+        absEncoder = new CANcoder(motorConfig.getCanCoderId());
         setMotorConfig(driveInverted, steerInverted);
         setConversionFactors(conversionConfig);
         resetEncoder();
@@ -58,7 +58,7 @@ public void setSteerVoltage(double volts) {
     @Override
     public void setSteerOffset(double zeroAbs) {
         steerMotor.getEncoder().setPosition(0);
-        steerOffset.set(Double.doubleToLongBits(normalizeAngle(Math.toRadians(zeroAbs - absEncoder.getAbsolutePosition()))));
+        steerOffset.set(Double.doubleToLongBits(normalizeAngle(Math.toRadians(zeroAbs - absEncoder.getAbsolutePosition().getValueAsDouble()))));
     }
 
     private double normalizeAngle(double angleInRad) {

src/main/java/frc/robot/swervev2/EncodedSwerveMotorBuilder.java

@@ -1,6 +1,7 @@
 package frc.robot.swervev2;
 
-import com.ctre.phoenix.sensors.WPI_CANCoder;
+
+import com.ctre.phoenix6.hardware.CANcoder;
 import com.revrobotics.CANSparkMax;
 import frc.robot.constants.Constants;
 import frc.robot.swervev2.components.EncodedSwerveSparkMax;
@@ -22,7 +23,7 @@ public EncodedSwerveMotorBuilder(SwerveIdConfig motorConfig, KinematicsConversio
      public EncodedSwerveSparkMax build(){
           CANSparkMax driveMotor = new CANSparkMax(motorConfig.getDriveMotorId(), CANSparkMax.MotorType.kBrushless);
           CANSparkMax turnMotor = new CANSparkMax(motorConfig.getTurnMotorId(), CANSparkMax.MotorType.kBrushless);
-          WPI_CANCoder canCoder = new WPI_CANCoder(motorConfig.getCanCoderId());
+          CANcoder canCoder = new CANcoder(motorConfig.getCanCoderId());
           double driveVelConvFactor = (2 * conversionConfig.getWheelRadius() * Math.PI) / (conversionConfig.getDriveGearRatio() * 60);
           double drivePosConvFactor = (2 * conversionConfig.getWheelRadius() * Math.PI) / (conversionConfig.getDriveGearRatio());
           double steerPosConvFactor = 2 * Math.PI / Constants.SWERVE_MODULE_PROFILE.getSteerRatio();

src/main/java/frc/robot/swervev2/components/EncodedSwerveSparkMax.java

@@ -1,11 +1,11 @@
 package frc.robot.swervev2.components;
 
-import com.ctre.phoenix.sensors.WPI_CANCoder;
+import com.ctre.phoenix6.hardware.CANcoder;
 import com.revrobotics.CANSparkMax;
 import frc.robot.constants.Constants;
 
 public class EncodedSwerveSparkMax extends GenericEncodedSwerve {
-    public EncodedSwerveSparkMax(CANSparkMax driveMotor, CANSparkMax steerMotor, WPI_CANCoder absEncoder, double driveVelFactor, double drivePosFactor, double steerPosFactor) {
+    public EncodedSwerveSparkMax(CANSparkMax driveMotor, CANSparkMax steerMotor, CANcoder absEncoder, double driveVelFactor, double drivePosFactor, double steerPosFactor) {
         super(driveMotor, steerMotor, absEncoder, driveMotor.getEncoder(), steerMotor.getEncoder(), driveVelFactor, drivePosFactor, steerPosFactor);
         configureEncoders(driveVelFactor,drivePosFactor, steerPosFactor);
     }

src/main/java/frc/robot/swervev2/components/GenericEncodedSwerve.java

@@ -1,7 +1,7 @@
 package frc.robot.swervev2.components;
 
-import com.ctre.phoenix.sensors.CANCoderStatusFrame;
-import com.ctre.phoenix.sensors.WPI_CANCoder;
+
+import com.ctre.phoenix6.hardware.CANcoder;
 import com.revrobotics.RelativeEncoder;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
@@ -17,9 +17,9 @@ public class GenericEncodedSwerve implements SwerveMotor, SwerveMotorEncoder {
     private final RelativeEncoder driveEncoder;
     private final RelativeEncoder steerEncoder;
     private double steerOffset = 0;
-    private final WPI_CANCoder absEncoder;
+    private final CANcoder absEncoder;
 
-    public GenericEncodedSwerve(MotorController driveMotor, MotorController steerMotor, WPI_CANCoder absEncoder, RelativeEncoder driveEncoder, RelativeEncoder steerEncoder,
+    public GenericEncodedSwerve(MotorController driveMotor, MotorController steerMotor, CANcoder absEncoder, RelativeEncoder driveEncoder, RelativeEncoder steerEncoder,
                                 double driveVelFactor, double drivePosFactor, double steerPosFactor) {
         this.driveMotor = driveMotor;
         this.steerMotor = steerMotor;
@@ -41,7 +41,7 @@ public void configureEncoders(double driveVelFactor, double drivePosFactor, doub
         driveEncoder.setPositionConversionFactor(drivePosFactor);
         steerEncoder.setPositionConversionFactor(steerPosFactor);
         steerEncoder.setVelocityConversionFactor(steerPosFactor/60);
-        absEncoder.setStatusFramePeriod(CANCoderStatusFrame.SensorData,50);
+        absEncoder.getPosition().setUpdateFrequency(50); //We think its 50
     }
 
     @Override
@@ -89,7 +89,7 @@ public double getSteerOffset() {
     @Override
     public void setSteerOffset(double zeroAbs) {
         steerEncoder.setPosition(0);
-        steerOffset = Math.toRadians(zeroAbs - absEncoder.getAbsolutePosition());
+        steerOffset = Math.toRadians(zeroAbs - absEncoder.getAbsolutePosition().getValueAsDouble());
         steerOffset = normalizeAngle(steerOffset);
     }
     public SwerveModulePosition getPosition(){
@@ -108,7 +108,7 @@ private double normalizeAngle(double angleInRad){
         return angleInRad;
     }
 
-    public WPI_CANCoder getAbsEnc() {
+    public CANcoder getAbsEnc() {
         return absEncoder;
     }
 

src/main/java/frc/robot/utils/diag/DiagSparkMaxAbsEncoder.java

@@ -1,14 +1,14 @@
 package frc.robot.utils.diag;
 
-import com.ctre.phoenix.sensors.WPI_CANCoder;
+import com.ctre.phoenix6.hardware.CANcoder;
 
 /**
  * A diagnostics class for digital encoder. The diagnostics will turn green once the encoder has traveled at least a given
  * distance from its initial position (measured at initialization or after a reset)
  */
 public class DiagSparkMaxAbsEncoder extends DiagDistanceTraveled {
 
-    private WPI_CANCoder canCoder;
+    private CANcoder canCoder;
 
     /**
      * Constructor
@@ -17,14 +17,14 @@ public class DiagSparkMaxAbsEncoder extends DiagDistanceTraveled {
      * @param requiredTravel  - the required difference between the initial position to qualify for success
      * @param canSparkMax     - the encoder instance to test
      */
-    public DiagSparkMaxAbsEncoder(String title, String name, double requiredTravel, WPI_CANCoder canCoder) {
+    public DiagSparkMaxAbsEncoder(String title, String name, double requiredTravel, CANcoder canCoder) {
         super(title, name, requiredTravel);
         this.canCoder = canCoder;
         reset();
     }
 
     @Override
     protected double getCurrentValue() {
-        return canCoder.getAbsolutePosition();
+        return canCoder.getAbsolutePosition().getValueAsDouble();
     }
 }