Alternate Encoder

I am using the rev through bore encoder with sparkmax but at this swerve drive java example there is a constant and ı can’t get it what it was

it is using for:

You didn’t post ALL your code so answers are limited.

  • I presume the usual meaning of angleOffSet is what the encoder magnet angle reading is after you’ve completed mounting the encoder and wheel mechanism and (normally) the wheel is pointed straight down field - the same way the robot is pointing.
  • Your encoder isn’t a CANCoder so you will be changing that construction to reflect in some way your encoder.