All Classes and Interfaces

Class	Description
Arm	Command-based extension of Arm that adds the Subsystem binding and Command/Trigger factories.
Arm	Command-based extension of Arm that adds the Mechanism binding and Command/Trigger factories.
Arm	Arm mechanism.
ArmConfig	Arm configuration class.
ArmConfigurationException	Thrown by Arm when a required ArmConfig field is missing or invalid.
ArmSimSupplier	ArmSim Supplier simulates a single-jointed arm mechanism using WPILib's SingleJointedArmSim.
BatterySim	Battery Simulation that takes the entirety of the robot into account by storing all currently used currents on the robot.
BooleanTelemetry<F>	Boolean Telemetry for SmartMotorControllers.
CommandMechanism	Shared duty-cycle/voltage Command factories for command-layer mechanisms.
CommandMechanism	Shared duty-cycle/voltage Command factories for command-layer mechanisms.
CommandTunable	Adapts an Command for publishing to NetworkTables via Tunables.
ControlMode	Control mode for a motor controller.
DCMotorSimSupplier	DCMotorSim Supplier simulates a generic DC motor load (flywheel, roller, or elevator) using WPILib's DCMotorSim.
DerivativeTimeFilter	Find the derivative of a value over time in microseconds.
DifferentialMechanism	Command-based extension of DifferentialMechanism that adds the Subsystem binding and Command/Trigger factories.
DifferentialMechanism	Command-based extension of DifferentialMechanism that adds the Mechanism binding and Command factories.
DifferentialMechanism	A differential mechanism for FRC robots driven by two coordinated motors whose combined motion produces two distinct and independent outputs.
DifferentialMechanismConfig	Configuration for a DifferentialMechanism driven by two coordinated motors working differentially.
DifferentialMechanismConfigurationException	Thrown by DifferentialMechanism or DifferentialMechanismConfig when a required field is missing or an attempt is made to violate a config invariant.
DoubleJointedArm	Command-based extension of DoubleJointedArm that adds the Subsystem binding and Command/Trigger factories.
DoubleJointedArm	Command-based extension of DoubleJointedArm that adds the Mechanism binding and Command factories.
DoubleJointedArm	A two-segment arm where each joint has its own independent motor controller.
DoubleJointedArmConfigurationException	Thrown by DoubleJointedArm when a required field in the lower-joint or upper-joint ArmConfig is missing or invalid.
DoubleTelemetry<F>	Double Telemetry for SmartMotorControllers.
EasyCRT	Finds the absolute angle of a gear that turns more than once, from two absolute encoders on pinions with different tooth counts that both mesh with it.
Elevator	Command-based extension of Elevator that adds the Subsystem binding and Command/Trigger factories.
Elevator	Command-based extension of Elevator that adds the Mechanism binding and Command/Trigger factories.
Elevator	Elevator mechanism.
ElevatorConfig	Elevator configuration class.
ElevatorConfigurationException	Thrown by Elevator when a required ElevatorConfig field is missing or invalid.
ElevatorSimSupplier	ElevatorSim Supplier simulates an elevator mechanism using WPILib's ElevatorSim.
ExponentialProfilePIDController	Exponential profile PID controller.
FlyWheel	Command-based extension of FlyWheel that adds the Subsystem binding and Command/Trigger factories.
FlyWheel	Command-based extension of FlyWheel that adds the Mechanism binding and Command/Trigger factories.
FlyWheel	FlyWheel mechanism.
FlyWheelConfig	FlyWheel configuration class.
FlyWheelConfigurationException	Thrown by FlyWheel or FlyWheelConfig when a required field in FlyWheelConfig is missing or invalid.
GearBox	GearBox class to calculate input and output conversion factors and check if the current configuration is supported.
GyroAxis	Axis of the gyro that points up through the robot, so the robot turning shows up as rotation about it: GyroAxis.YAW for a gyro mounted flat, GyroAxis.ROLL or GyroAxis.PITCH for one mounted on its side.
InvalidStageGivenException	Thrown by GearBox and Sprocket when a gear stage string is not in the required "IN:OUT" format.
LQRConfig	LQR Configuration for LQRController
LQRConfig.LQRType	LQR Type
LQRController	Linear Quadratic Regulator (Regulator is a type of controller)
MechanismGearing	Mechanism gearing for conversions from the motor output to the mechanism output.
MechanismPositionConfig	A configuration class for specifying the position and visualization properties of a mechanism relative to a robot in a 3D coordinate system.
MechanismPositionConfig.Plane	The planes that the mechanism could be on, used for position calculations.
MechanismTelemetry	Mechanism telemetry.
MotorMode	Zero power mode for the SmartMotorController
MotorNotPresentException	Thrown by a SmartMechanism subclass when the primary SmartMotorController has not been set before the mechanism attempts to use it.
NetworkTablesBackends	Registers TelemetryRegistry and TunableRegistry backends that publish directly under the Mechanisms and Tuning NetworkTables roots so the same roots MechanismTelemetry and SmartMotorControllerTelemetry already publish raw NetworkTables data to instead of the default /Telemetry and /Tunables roots.
NoStagesGivenException	Thrown by GearBox, Sprocket, and SmartMath when a gear reduction calculation is requested but no gear stages were supplied.
NovaWrapper	Nova wrapper for The Thrifty Bot's Thrifty Nova motor controller, using ThriftyLib 2027.
Pivot	Command-based extension of Pivot that adds the Subsystem binding and Command/Trigger factories.
Pivot	Command-based extension of Pivot that adds the Mechanism binding and Command/Trigger factories.
Pivot	Pivot mechanism.
PivotConfig	Pivot configuration class.
PivotConfigurationException	Thrown by Pivot or PivotConfig when a required field in PivotConfig is missing or invalid.
Sensor	Sensor class using SimDevice; All fields will use the given supplier on real robots.
SensorConfig	Sensor configuration for simulated and real sensors.
SensorData	Sensor data class to encapsulate sensor data.
SensorData.HALValueType	HALValue type enum.
SimSupplier	Provides sim functions for a YAMS simulated mechanism.
SmartMath	SmartMath class to handle math operations.
SmartMechanism	Generic implementation of a mechanism with advanced telemetry.
SmartMotorController	Smart motor controller wrapper for motor controllers.
SmartMotorController.ClosedLoopControllerSlot	Current closed loop controller slot.
SmartMotorControllerCommandRegistry	Registry for WPILib Command instances associated with a SmartMotorController.
SmartMotorControllerCommandRegistry	Registry for Command instances associated with a SmartMotorController.
SmartMotorControllerConfig	Command-based extension of SmartMotorControllerConfig that adds the Subsystem binding and command-layer helpers (e.g.
SmartMotorControllerConfig	Command-based extension of SmartMotorControllerConfig that adds the Mechanism binding and command-layer helpers (e.g.
SmartMotorControllerConfig<T>	Smart motor controller config.
SmartMotorControllerConfig.SmartMotorControllerOptions	All possible options that must be checked and applied during motor config application.
SmartMotorControllerConfigurationException	Thrown by SmartMotorControllerConfig or a SmartMotorController wrapper when the applied configuration contains conflicting, incomplete, or incompatible settings.
SmartMotorControllerTelemetry	Smart motor controller telemetry.
SmartMotorControllerTelemetry.BooleanTelemetryField	Boolean telemetry for SmartMotorControllers
SmartMotorControllerTelemetry.DoubleTelemetryField	Double telemetry field.
SmartMotorControllerTelemetryConfig	Smart motor controller telemetry configuration.
SmartPositionalMechanism	Abstract intermediate base class for all closed-loop positional mechanisms in YAMS.
SmartVelocityMechanism	Abstract intermediate base class for all closed-loop velocity mechanisms in YAMS.
SparkWrapper	Spark wrapper for REV Spark Motor controllers.
Sprocket	Sprocket class to handle calculating the conversion factor of a sprocket in your mechanism.
StructArrayTelemetry<T,F>	Struct array Telemetry for arbitrary Struct serializable array types.
StructTelemetry<T,F>	Struct Telemetry for arbitrary Struct serializable types.
SwerveDrive	Command-based extension of SwerveDrive that adds the Subsystem binding and Command factories.
SwerveDrive	Command-based extension of SwerveDrive that adds the Mechanism binding and Command factories.
SwerveDrive	Swerve Drive mechanism.
SwerveDriveConfig	Command-based extension of SwerveDriveConfig that adds the Subsystem binding.
SwerveDriveConfig	Command-based extension of SwerveDriveConfig that adds the Mechanism binding.
SwerveDriveConfig<T>	Swerve Drive Configuration.
SwerveDriveConfigurationException	Thrown by SwerveDrive or SwerveDriveConfig when a required field is missing or a config invariant is violated.
SwerveDriveTelemetry	Publishes SwerveDrive telemetry to NetworkTables and DataLog, and applies live tuning values.
SwerveDriveTelemetry.BooleanTelemetryField	Boolean telemetry field for SwerveDrives.
SwerveDriveTelemetry.DoubleTelemetryField	Double telemetry field for SwerveDrives.
SwerveDriveTelemetry.StructArrayTelemetryField	Struct array telemetry field for SwerveDrives.
SwerveDriveTelemetry.StructTelemetryField	Struct telemetry field for SwerveDrives.
SwerveDriveTelemetryConfig	Swerve drive telemetry configuration.
SwerveInputStream	Helper class to easily transform controller inputs into workable chassis speeds.
SwerveInputStream	Helper class to transform controller inputs into workable Chassis speeds for the Commands v3 API.
SwerveInputStreamTelemetry	Telemetry and live tuning for a SwerveInputStream, created by SwerveInputStream.withTelemetry(String, TelemetryVerbosity) and published every time the stream is read.
SwerveInputStreamTelemetry	Telemetry and live tuning for a SwerveInputStream, created by SwerveInputStream.withTelemetry(String, TelemetryVerbosity) and published every time the stream is read.
SwerveModule	Swerve Module
SwerveModuleConfig	Swerve Module
SwerveModuleTelemetry	Swerve module telemetry.
SwerveModuleTelemetry.DoubleTelemetryField	Double telemetry field for SwerveModules.
SwerveModuleTelemetry.StructTelemetryField	Struct telemetry field for SwerveModules.
SwerveModuleTelemetryConfig	Swerve module telemetry configuration.
SwerveModuleVelocityWithAzimuth	A SwerveModuleVelocity that also holds how fast the wheel is turning: the angular velocity of the azimuth.
TalonFXSWrapper	TalonFXS wrapper for CTRE TalonFXS motor controllers.
TalonFXWrapper	TalonFX wrapper for a CTRE TalonFX motor controller.
TelemetryVerbosity	Telemetry verbosity for YAMS motor controllers and mechanisms.
YMotors	DCMotor models of motors WPILib does not have a model of.
YUnits	YUnits that are fun and useful!