Fixed absolute encoder read the same as everything else.

Signed-off-by: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>

Author: thenetworkgrinch

src/main/java/swervelib/SwerveModule.java

@@ -830,7 +830,7 @@ public void updateTelemetry()
   {
     if (absoluteEncoder != null)
     {
-      rawAbsoluteAnglePublisher.set(absolutePositionCache.getValue());
+      rawAbsoluteAnglePublisher.set(absoluteEncoder.getAbsolutePosition());
     }
     if (SwerveDriveTelemetry.isSimulation && SwerveDriveTelemetry.verbosity == TelemetryVerbosity.HIGH)
     {

src/main/java/swervelib/motors/SparkMaxSwerve.java

@@ -345,10 +345,12 @@ public void configureIntegratedEncoder(double positionConversionFactor)
         cfg.closedLoop.feedbackSensor(FeedbackSensor.kAnalogSensor);
 
         cfg.signals
+            .analogVelocityAlwaysOn(true)
             .analogVoltageAlwaysOn(true)
             .analogPositionAlwaysOn(true)
             .analogVoltagePeriodMs(20)
-            .analogPositionPeriodMs(20);
+            .analogPositionPeriodMs(20)
+            .analogVelocityPeriodMs(20);
 
         cfg.analogSensor
             .positionConversionFactor(positionConversionFactor)