Add isConnected method to encoders

[rcahoon]

Description

isConnected() should return true iff the software is receiving up-to-date and correct information from the encoder. This is primarily useful with the Rev absolute encoders, but also is applicable to CANcoders.

example use:

2024/src/main/java/com/team766/robot/burro_arm/mechanisms/Arm.java

Lines 51 to 62 in 1060e1c

	if (!initialized && absoluteEncoder.isConnected()) {
	final double absoluteEncoderPosition =
	Math.IEEEremainder(
	absoluteEncoder.getPosition() + absoluteEncoderOffset.get(), 1.0);
	SmartDashboard.putNumber(
	"[ARM] AbsoluteEncoder Init Position", absoluteEncoderPosition);
	motor.setSensorPosition(
	absoluteEncoderPosition
	* ABSOLUTE_ENCODER_TO_ARM_ANGLE
	/ MOTOR_ROTATIONS_TO_ARM_ANGLE);
	initialized = true;
	}

How Has This Been Tested?

• Unit tests: [Add your description here]
• Simulator testing: [Add your description here]
• On-robot bench testing: Tested on m-ayhem demo bot
• On-robot field testing: [Add your description here]

[dejabot]

awesome, excited about this!

can be follow-on, but I think we'll also want to fix REVThroughBoreDutyCycleEncoder to work with this, too, eg:

   public REVThroughBoreDutyCycleEncoder(int channel) {
        super(channel);
        setDutyCycleRange(1. / 1025., 1024. / 1025.);
=>      setConnectedFrequencyThreshold(975 /* 975.6 on spec sheet */);
    }

(picking up from #94 - which requires some testing.)

[rcahoon]

I think we'll also want to fix REVThroughBoreDutyCycleEncoder to work with this, too

agreed! REVThroughBoreDutyCycleEncoder adopts the isConnected() implementation from its parent class, so it ought to work once #94 merges