cell_loader_ctrl/robot_control/src/api/i2c_handler.py

import smbus2 as smbus 
from ..vendor.mcp3428 import MCP3428, MCP3428_DEFAULT_ADDRESS
from time import sleep

class I2C:
    def __init__(self, channels, gain = 1, resolution = 12):
        self.channels = channels if isinstance(channels, list) else [channels]
        self.gain = gain
        self.resolution = resolution
        self.mcp = None

    def initialize(self):
        bus = smbus.SMBus(1)
        self.mcp = MCP3428(bus, MCP3428_DEFAULT_ADDRESS)
        
    def read_channel(self, channel):
        if self.mcp is None:
            raise RuntimeError("I2C not initialized")
        self.mcp.config_command(channel, self.gain, self.resolution)
        sleep(0.01)
        return self.mcp.read_adc()
    
    def read(self):
        return {channel: self.read_channel(channel) for channel in self.channels}