Add URCL, PDH logging

Since REV does not provide an official method of automatically recording data from the Spark Max and Spark Flex, we have provided an unofficial alternative for Java and C++ called URCL (Unofficial REV-Compatible Logger). This enables live plotting and logging of all devices similar to CTRE's Tuner X plotting feature and Phoenix 6 signal logger.

Power Distribution Hub is also now logged in AdvantageKit.

src/main/java/frc/robot/Robot.java

@@ -19,6 +19,7 @@
 import org.littletonrobotics.junction.networktables.NT4Publisher;
 import org.littletonrobotics.junction.wpilog.WPILOGReader;
 import org.littletonrobotics.junction.wpilog.WPILOGWriter;
+import org.littletonrobotics.urcl.URCL;
 import swervelib.parser.SwerveParser;
 
 /**
@@ -55,8 +56,13 @@ public void robotInit() {
 
     if (isReal()) {
       Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables
-      new PowerDistribution(
-          HardwareConstants.REV_PDH_ID, ModuleType.kRev); // Enables power distribution logging
+      PowerDistribution pdh =
+          new PowerDistribution(
+              HardwareConstants.REV_PDH_ID, ModuleType.kRev); // Enables power distribution logging
+      pdh.setSwitchableChannel(true);
+      pdh.close();
+      Logger.registerURCL(URCL.startExternal());
+
     } else {
       setUseTiming(false); // Run as fast as possible
       String logPath =

vendordeps/URCL.json

@@ -0,0 +1,65 @@
+{
+    "fileName": "URCL.json",
+    "name": "URCL",
+    "version": "2024.0.1",
+    "frcYear": "2024",
+    "uuid": "84246d17-a797-4d1e-bd9f-c59cd8d2477c",
+    "mavenUrls": [
+        "https://raw.githubusercontent.com/Mechanical-Advantage/URCL/2024.0.1"
+    ],
+    "jsonUrl": "https://raw.githubusercontent.com/Mechanical-Advantage/URCL/maven/URCL.json",
+    "javaDependencies": [
+        {
+            "groupId": "org.littletonrobotics.urcl",
+            "artifactId": "URCL-java",
+            "version": "2024.0.1"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "org.littletonrobotics.urcl",
+            "artifactId": "URCL-driver",
+            "version": "2024.0.1",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxathena",
+                "osxuniversal"
+            ]
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "org.littletonrobotics.urcl",
+            "artifactId": "URCL-cpp",
+            "version": "2024.0.1",
+            "libName": "URCL",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxathena",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "org.littletonrobotics.urcl",
+            "artifactId": "URCL-driver",
+            "version": "2024.0.1",
+            "libName": "URCLDriver",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxathena",
+                "osxuniversal"
+            ]
+        }
+    ]
+}