Merge pull request #39 from WHS-FRC-3467/mitocandria-driver

mitocandria implementation

src/main/java/frc/robot/util/drivers/MitoCANdriaSensor.java

@@ -0,0 +1,53 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.util.drivers;
+
+import au.grapplerobotics.MitoCANdria;
+
+/** Add your docs here. */
+public class MitoCANdriaSensor {
+
+    public MitoCANdriaSensor(int ID)
+    {
+        try (MitoCANdria mito = new MitoCANdria(ID)) {
+            // Get and print USB1 current
+            mito.getChannelCurrent(MitoCANdria.MITOCANDRIA_CHANNEL_USB1)
+                .ifPresentOrElse(
+                    current -> System.out.println("USB1 current: " + current + " A"),
+                    () -> System.out.println("Couldn't get USB1 current"));
+
+            // Get and print 5VA voltage
+            mito.getChannelVoltage(MitoCANdria.MITOCANDRIA_CHANNEL_5VA)
+                .ifPresentOrElse(
+                    voltage -> System.out.println("5VA voltage: " + voltage + " V"),
+                    () -> System.out.println("Couldn't get 5VA voltage"));
+
+            // Enable USB2 channel
+            mito.setChannelEnabled(MitoCANdria.MITOCANDRIA_CHANNEL_USB2, true);
+            System.out.println("USB2 channel enabled");
+
+            // Set ADJ channel voltage
+            mito.setChannelVoltage(MitoCANdria.MITOCANDRIA_CHANNEL_ADJ, 3.3);
+            System.out.println("ADJ channel voltage set to 3.3V");
+
+            // Get and print ADJ channel setpoint
+            mito.getChannelVoltageSetpoint(MitoCANdria.MITOCANDRIA_CHANNEL_ADJ)
+                .ifPresentOrElse(
+                    setpoint -> System.out.println("ADJ channel setpoint: " + setpoint + " V"),
+                    () -> System.out.println("Couldn't get ADJ channel setpoint"));
+
+            // Check if 5VB channel is enabled
+            mito.getChannelEnabled(MitoCANdria.MITOCANDRIA_CHANNEL_5VB)
+                .ifPresentOrElse(
+                    enabled -> System.out.println("5VB channel enabled: " + (enabled == 1)),
+                    () -> System.out.println("Couldn't check if 5VB channel is enabled"));
+
+        } catch (Exception e) {
+            System.out.println("An error occurred: " + e.getMessage());
+        }
+
+
+    }
+}

vendordeps/ThriftyLib.json

@@ -0,0 +1,20 @@
+{
+    "fileName": "ThriftyLib.json",
+    "name": "ThriftyLib",
+    "version": "2025.0.2",
+    "frcYear": "2025",
+    "uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0",
+    "mavenUrls": [
+        "https://docs.home.thethriftybot.com"
+    ],
+    "jsonUrl": "https://docs.home.thethriftybot.com/ThriftyLib.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.thethriftybot.frc",
+            "artifactId": "ThriftyLib-java",
+            "version": "2025.0.2"
+        }
+    ],
+    "jniDependencies": [],
+    "cppDependencies": []
+}