YAMS Yet Another Mechanism System

Introduction

YAMS is a C++ FRC robotics library that provides a unified, hardware-agnostic abstraction layer for common robot mechanisms. It wraps REV SPARK and CTRE TalonFX motor controllers behind a single interface and ships ready-to-use implementations for arms, elevators, pivots, flywheels, and swerve drives all with built-in simulation and telemetry support.

Compatible with WPILib 2026, REVLib, and CTRE Phoenix 6.

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Key Features

• Unified motor controller abstraction via yams::motorcontrollers::SmartMotorController, supporting REV SPARK (yams::motorcontrollers::local::SparkWrapper) and CTRE TalonFX / TalonFXS (yams::motorcontrollers::remote::TalonFXWrapper, yams::motorcontrollers::remote::TalonFXSWrapper).
• Ready-to-use mechanism classes: Arm, Elevator, Pivot (positional) and FlyWheel (velocity), all extending yams::mechanisms::SmartMechanism.
• Full swerve drive support via yams::mechanisms::swerve::SwerveDrive with integrated kinematics, odometry, and pose estimation.
• Physics-based simulation through yams::motorcontrollers::simulation suppliers (ArmSimSupplier, ElevatorSimSupplier, DCMotorSimSupplier).
• NetworkTables telemetry via yams::telemetry::MechanismTelemetry and yams::telemetry::SmartMotorControllerTelemetry.
• Builder-style configuration objects for every mechanism and controller.
• LQR and derivative-filtered PID control through yams::math::LQRController and yams::math::DerivativeTimeFilter.

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Namespace Overview

Namespace	Description
yams	Root namespace; include YAMS.hpp to pull in everything
yams::exceptions	Exception types thrown by YAMS (e.g. ArmConfigurationException)
yams::gearing	GearBox and sprocket/chain gearing calculations
yams::math	Control math: LQRController, DerivativeTimeFilter, SmartMath
yams::mechanisms	Abstract base SmartMechanism and all concrete implementations
yams::mechanisms::config	Config structs for every mechanism type
yams::mechanisms::positional	Arm, Elevator, Pivot, SmartPositionalMechanism
yams::mechanisms::velocity	FlyWheel, SmartVelocityMechanism
yams::mechanisms::swerve	SwerveDrive, SwerveModule, SwerveDriveConfig
yams::mechanisms::swerve::utility	SwerveInputStream
yams::motorcontrollers	SmartMotorController abstract base and wrapper types
yams::motorcontrollers::local	SparkWrapper (REV SPARK MAX / FLEX)
yams::motorcontrollers::remote	TalonFXWrapper, TalonFXSWrapper (CTRE Phoenix 6)
yams::motorcontrollers::simulation	Simulation suppliers and sensor data
yams::telemetry	Mechanism and motor controller telemetry publishers
yams::units	Extended FRC unit types (YUnits)

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Quick Start

Add the YAMS vendordep JSON to your robot project, then include the convenience header:

#include <yams/YAMS.hpp>

Configure and construct a mechanism:

using namespace yams;
 
// Build a motor controller
rev::spark::SparkMax spark{1, rev::spark::SparkLowLevel::MotorType::kBrushless};
auto motorConfig = motorcontrollers::SmartMotorControllerConfig{}
    .WithMotorInverted(false)
    .WithStatorCurrentLimit(40_amps);
 
auto motor = std::make_unique<motorcontrollers::local::SparkWrapper>(
    spark, frc::DCMotor::NEO(1), motorConfig);
 
// Build an elevator
auto elevatorConfig = mechanisms::config::ElevatorConfig{}
    .withMaxHeightMeters(1.5)
    .withMinHeightMeters(0.0);
 
mechanisms::positional::Elevator elevator{std::move(motor), elevatorConfig};

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Further Resources

• Source repository: https://github.com/Yet-Another-Software-Suite/YAMS
• Documentation & guides: https://yagsl.gitbook.io/yams/documentation
• Issue tracker: https://github.com/Yet-Another-Software-Suite/YAMS/issues