Configuring with GrappleHook
Overview
Do not plug into other USBs to config, only the one marked “DATA” - note this will not damage the product, it just will not be configurable
USB-C
Connect via configuration USB-C port
Use configuration app for settings
Recommended for most use cases
CAN (via roboRIO)
Runs CAN server on roboRIO
Note: Cannot run simultaneously with robot code
Alternative configuration method when USB is inaccessible
Configuration Features
Toggle switchable 5V WAGO rails
Adjust boost rail voltage (15-24V range)
Monitor current draw and power consumption
Update firmware via USB or CAN bootloader
Quick Start
Connect via preferred method (USB-C or CAN)
Launch configuration app
Adjust rail settings as needed
When initially booting GrappleHook, the MitoCANdria will present itself as a "Grapple USB Device" if over USB or through the RoboRIO if connecting over CAN. Click the appropriate option for your use case.
Once selected, you will be prompted to connect.
Once connected, you will be able to see live current as well as be able to enable and disable the 5V rails. You will also be able to adjust the boost rail to meet your needs.
You will also be able to use the GrappleHook app to handle firmware updates.
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