refactor(config): Rename constants to configs.

src/main/java/frc/lib/ControllerConstants.java

@@ -1,13 +1,16 @@
 package frc.lib;
 
+import frc.lib.config.FeedbackControllerConfig;
+import frc.lib.config.FeedforwardControllerConfig;
+
 /** Controller constants. */
 public class ControllerConstants {
 
   /** Feedforward controller constants. */
-  public FeedforwardControllerConstants feedforward = new FeedforwardControllerConstants();
+  public FeedforwardControllerConfig feedforward = new FeedforwardControllerConfig();
 
   /** Feedback controller constants. */
-  public FeedbackControllerConstants feedback = new FeedbackControllerConstants();
+  public FeedbackControllerConfig feedback = new FeedbackControllerConfig();
 
   /**
    * Modifies these controller constants to use the feedforward controller constants.
@@ -16,7 +19,7 @@ public class ControllerConstants {
    * @return these controller constants.
    */
   public ControllerConstants withFeedforward(
-      FeedforwardControllerConstants feedforwardControllerConstants) {
+      FeedforwardControllerConfig feedforwardControllerConstants) {
     this.feedforward = feedforwardControllerConstants;
     return this;
   }
@@ -27,7 +30,7 @@ public ControllerConstants withFeedforward(
    * @param feedbackControllerConstants the feedback controller constants to use.
    * @return these controller constants.
    */
-  public ControllerConstants withFeedback(FeedbackControllerConstants feedbackControllerConstants) {
+  public ControllerConstants withFeedback(FeedbackControllerConfig feedbackControllerConstants) {
     this.feedback = feedbackControllerConstants;
     return this;
   }

src/main/java/frc/lib/config/AbsoluteEncoderConfig.java

@@ -0,0 +1,76 @@
+package frc.lib.config;
+
+import edu.wpi.first.math.geometry.Rotation2d;
+
+/** Absolute encoder config. */
+public class AbsoluteEncoderConfig {
+
+    /** Interpret counterclockwise rotation on the encoder as having positive velocity. */
+    private boolean ccwPositive = true;
+
+    /** Ratio between the absolute encoder and the mechanism. */
+    private double sensorToMechanismRatio = 1.0;
+
+    /** Offset between absolute encoder reading and mechanism position. */
+    private Rotation2d offset = new Rotation2d();
+
+    /**
+     * Modifies this absolute encoder config's counterclockwise positive.
+     * 
+     * @param ccwPositive the counterclockwise positive.
+     * @return this absolute encoder config.
+     */
+    public AbsoluteEncoderConfig withCCWPositive(boolean ccwPositive) {
+        this.ccwPositive = ccwPositive;
+        return this;
+    }
+
+    /**
+     * Modifies this absolute encoder config's sensor to mechanism ratio.
+     * 
+     * @param sensorToMechanismRatio the sensor to mechanism ratio.
+     * @return this absolute encoder config.
+     */
+    public AbsoluteEncoderConfig withSensorToMechanismRatio(double sensorToMechanismRatio) {
+        this.sensorToMechanismRatio = sensorToMechanismRatio;
+        return this;
+    }
+
+    /**
+     * Modifies this absolute encoder config's offset.
+     * 
+     * @param offset the offset.
+     * @return this absolute encoder config.
+     */
+    public AbsoluteEncoderConfig withOffset(Rotation2d offset) {
+        this.offset = offset;
+        return this;
+    }
+
+    /**
+     * Returns true if the absolute encoder is counterclockwise positive.
+     * 
+     * @return true if the absolute encoder is counterclockwise positive.
+     */
+    public boolean ccwPositive() {
+        return ccwPositive;
+    }
+
+    /**
+     * Returns the absolute encoder sensor to mechanism ratio.
+     * 
+     * @return the absolute encoder sensor to mechanism ratio.
+     */
+    public double sensorToMechanismRatio() {
+        return sensorToMechanismRatio;
+    }
+
+    /**
+     * Returns the absolute encoder offset.
+     * 
+     * @return the absolute encoder offset.
+     */
+    public Rotation2d offset() {
+        return offset;
+    }
+}