Yet Another Mechanism System (YAMS)

YAMS is a unified FRC mechanism library that provides a hardware-agnostic API for controlling robot mechanisms powered by REV SPARK MAX/FLEX or CTRE TalonFX/TalonFXS motor controllers. It is compatible with WPILib 2026 and targets FRC teams that want consistent, simulation-ready mechanism abstractions without vendor lock-in.

Key Features

Unified SmartMotorController abstraction one API for REV SPARK and CTRE TalonFX hardware.
Ready-to-use mechanisms Arm, Elevator, Pivot, FlyWheel, SwerveDrive, and more, each with builder-style configuration.
Physics-based simulation drop-in sim suppliers (ArmSimSupplier, DCMotorSimSupplier) for hardware-free testing.
NetworkTables telemetry MechanismTelemetry and SmartMotorControllerTelemetry publish live data to Shuffleboard/AdvantageScope.
Builder-style config every mechanism and motor controller is configured through fluent builder objects, keeping construction readable and safe.

Quick Start


// 1. Configure the motor controller
SmartMotorControllerConfig motorConfig = new SmartMotorControllerConfig()
      .withClosedLoopController(4, 0, 0)
      .withSoftLimits(Degrees.of(-30), Degrees.of(100))
      .withGearing(new MechanismGearing(GearBox.fromReductionStages(3, 4)))
      .withIdleMode(MotorMode.BRAKE)
      .withTelemetry("ArmMotor", TelemetryVerbosity.HIGH)
      .withStatorCurrentLimit(Amps.of(40))
      .withMotorInverted(false)
      .withFeedforward(new ArmFeedforward(0, 0, 0, 0))
      .withControlMode(ControlMode.CLOSED_LOOP)
      .withStartingPosition(Degrees.of(0));

// 2. Instantiate the appropriate vendor wrapper
SmartMotorController motor = new SparkWrapper(new SparkMax(1, MotorType.kBrushless), DCMotor.getNEO(1), motorConfig);

// 3. Build an ArmConfig describing the physical arm
ArmConfig armConfig = new ArmConfig()
    .withMotor(motor)
    .withArmLength(Meters.of(0.5))
    .withMinAngle(Degrees.of(-90))
    .withMaxAngle(Degrees.of(90));

// 4. Construct the Arm mechanism
Arm arm = new Arm(armConfig);

// 5. Schedule a setpoint command
arm.setAngle(Degrees.of(45)).schedule();

Package Summary

Package Summary
Package	Description
yams	Root package; entry point and top-level library classes.
yams.core.exceptions	Configuration and runtime exception types thrown by YAMS.
yams.core.gearing	GearBox, Sprocket, and MechanismGearing for gear-ratio math.
yams.core.math	LQR solver, derivative filter, and general math utilities.
yams.core.mechanisms	SmartMechanism abstract base class shared by all mechanism types.
yams.core.mechanisms.config	Builder and config classes for configuring every supported mechanism.
yams.core.mechanisms.positional	Arm, Elevator, Pivot, DifferentialMechanism, and DoubleJointedArm implementations.
yams.core.mechanisms.velocity	FlyWheel and SmartVelocityMechanism for velocity-controlled subsystems.
yams.core.mechanisms.swerve	SwerveDrive and SwerveModule for full swerve drivetrain control.
yams.commands2.swerve	Commands v2 SwerveDrive and SwerveInputStream (driver input from suppliers).
yams.commands3.swerve	Commands v3 SwerveDrive and SwerveInputStream (driver input set from drive coroutines).
yams.core.motorcontrollers	SmartMotorController abstract base, SmartMotorControllerConfig, and vendor wrappers (SparkWrapper, TalonFXWrapper, TalonFXSWrapper).
yams.core.motorcontrollers.local	SparkWrapper REV SPARK MAX and SPARK FLEX integration.
yams.core.motorcontrollers.remote	TalonFXWrapper and TalonFXSWrapper CTRE Phoenix 6 integration.
yams.core.motorcontrollers.simulation	ArmSimSupplier, DCMotorSimSupplier, and Sensor for physics-based simulation.
yams.core.telemetry	MechanismTelemetry and SmartMotorControllerTelemetry for NetworkTables publishing.
yams.core.units	YUnits and EasyCRT unit helpers for WPILib unit conversions.