Deprecated API

Contents

• Terminally Deprecated
• Fields
• Methods

Terminally Deprecated Elements

Element	Description
yams.mechanisms.config.ArmConfig.withMOI(double)
yams.mechanisms.config.DifferentialMechanismConfig.withMOI(double)
yams.mechanisms.config.FlyWheelConfig.withMOI(double)
yams.mechanisms.config.PivotConfig.withMOI(double)
yams.mechanisms.SmartMechanism.gearbox(double...)	Use GearBox.fromReductionStages(double...) instead.
yams.mechanisms.SmartMechanism.gearbox(String...)	Use GearBox.fromStages(String...) instead.
yams.mechanisms.SmartMechanism.gearing(GearBox)	Use MechanismGearing instead.
yams.mechanisms.SmartMechanism.gearing(GearBox, Sprocket)	Use MechanismGearing(GearBox, Sprocket) instead.
yams.mechanisms.SmartMechanism.sprocket(double...)	Use Sprocket.fromStages(String...) instead.
yams.mechanisms.SmartMechanism.sprocket(String...)	Use Sprocket.fromStages(String...) instead.
yams.mechanisms.swerve.utility.SwerveInputStream.driveToPose(Supplier<Pose2d>, ProfiledPIDController, ProfiledPIDController)
yams.mechanisms.swerve.utility.SwerveInputStream.driveToPoseEnabled(boolean)
yams.mechanisms.swerve.utility.SwerveInputStream.driveToPoseEnabled(BooleanSupplier)
yams.mechanisms.swerve.utility.SwerveInputStream.resetDriveToPosePIDControllers()
yams.motorcontrollers.SmartMotorControllerConfig.withClosedLoopController(double, double, double, AngularAcceleration, Velocity<AngularAccelerationUnit>)	Use SmartMotorControllerConfig.withTrapezoidalProfile(AngularAcceleration, Velocity<AngularAccelerationUnit>) to define your trapezoidal profile.
yams.motorcontrollers.SmartMotorControllerConfig.withClosedLoopController(double, double, double, AngularAcceleration, Velocity<AngularAccelerationUnit>, SmartMotorController.ClosedLoopControllerSlot)	Use SmartMotorControllerConfig.withTrapezoidalProfile(AngularAcceleration, Velocity<AngularAccelerationUnit>) to define your trapezoidal profile.
yams.motorcontrollers.SmartMotorControllerConfig.withClosedLoopController(double, double, double, AngularVelocity, AngularAcceleration)	Please use SmartMotorControllerConfig.withTrapezoidalProfile(AngularVelocity, AngularAcceleration) to define your trapezoidal profile.
yams.motorcontrollers.SmartMotorControllerConfig.withClosedLoopController(double, double, double, AngularVelocity, AngularAcceleration, SmartMotorController.ClosedLoopControllerSlot)	Please use SmartMotorControllerConfig.withTrapezoidalProfile(AngularVelocity, AngularAcceleration) to define your trapezoidal profile.
yams.motorcontrollers.SmartMotorControllerConfig.withClosedLoopController(double, double, double, LinearAcceleration, Velocity<LinearAccelerationUnit>)	Use SmartMotorControllerConfig.withTrapezoidalProfile(LinearAcceleration, Velocity<LinearAccelerationUnit>) to define your trapezoidal profile.
yams.motorcontrollers.SmartMotorControllerConfig.withClosedLoopController(double, double, double, LinearAcceleration, Velocity<LinearAccelerationUnit>, SmartMotorController.ClosedLoopControllerSlot)	Use SmartMotorControllerConfig.withTrapezoidalProfile(LinearAcceleration, Velocity<LinearAccelerationUnit>) to define your trapezoidal profile.
yams.motorcontrollers.SmartMotorControllerConfig.withClosedLoopController(double, double, double, LinearVelocity, LinearAcceleration)	Please use SmartMotorControllerConfig.withTrapezoidalProfile(LinearVelocity, LinearAcceleration) to define your trapezoidal profile.
yams.motorcontrollers.SmartMotorControllerConfig.withClosedLoopController(double, double, double, LinearVelocity, LinearAcceleration, SmartMotorController.ClosedLoopControllerSlot)	Please use SmartMotorControllerConfig.withTrapezoidalProfile(LinearVelocity, LinearAcceleration) to define your trapezoidal profile.
yams.motorcontrollers.SmartMotorControllerConfig.withClosedLoopController(ProfiledPIDController)	Use SmartMotorControllerConfig.withClosedLoopController(double, double, double) and SmartMotorControllerConfig.withTrapezoidalProfile(AngularVelocity, AngularAcceleration).
yams.motorcontrollers.SmartMotorControllerConfig.withClosedLoopController(ExponentialProfilePIDController)	Use SmartMotorControllerConfig.withClosedLoopController(double, double, double) and SmartMotorControllerConfig.withExponentialProfile(ExponentialProfile.Constraints).
yams.motorcontrollers.SmartMotorControllerConfig.withMomentOfInertia(double)
yams.motorcontrollers.SmartMotorControllerConfig.withSimClosedLoopController(double, double, double, AngularAcceleration, Velocity<AngularAccelerationUnit>)	Please use SmartMotorControllerConfig.withTrapezoidalProfile(AngularAcceleration, Velocity<AngularAccelerationUnit>) to define your trapezoidal profile.
yams.motorcontrollers.SmartMotorControllerConfig.withSimClosedLoopController(double, double, double, AngularAcceleration, Velocity<AngularAccelerationUnit>, SmartMotorController.ClosedLoopControllerSlot)	Please use SmartMotorControllerConfig.withTrapezoidalProfile(AngularAcceleration, Velocity<AngularAccelerationUnit>) to define your trapezoidal profile.
yams.motorcontrollers.SmartMotorControllerConfig.withSimClosedLoopController(double, double, double, AngularVelocity, AngularAcceleration)	Use SmartMotorControllerConfig.withTrapezoidalProfile(AngularVelocity, AngularAcceleration) to define your trapezoidal profile.
yams.motorcontrollers.SmartMotorControllerConfig.withSimClosedLoopController(double, double, double, AngularVelocity, AngularAcceleration, SmartMotorController.ClosedLoopControllerSlot)	Use SmartMotorControllerConfig.withTrapezoidalProfile(AngularVelocity, AngularAcceleration) to define your trapezoidal profile.
yams.motorcontrollers.SmartMotorControllerConfig.withSimClosedLoopController(double, double, double, LinearAcceleration, Velocity<LinearAccelerationUnit>)	Please use SmartMotorControllerConfig.withTrapezoidalProfile(LinearAcceleration, Velocity<LinearAccelerationUnit>) to define your trapezoidal profile.
yams.motorcontrollers.SmartMotorControllerConfig.withSimClosedLoopController(double, double, double, LinearAcceleration, Velocity<LinearAccelerationUnit>, SmartMotorController.ClosedLoopControllerSlot)	Please use SmartMotorControllerConfig.withTrapezoidalProfile(LinearAcceleration, Velocity<LinearAccelerationUnit>) to define your trapezoidal profile.
yams.motorcontrollers.SmartMotorControllerConfig.withSimClosedLoopController(double, double, double, LinearVelocity, LinearAcceleration)	Use SmartMotorControllerConfig.withTrapezoidalProfile(LinearVelocity, LinearAcceleration) to define your trapezoidal profile.
yams.motorcontrollers.SmartMotorControllerConfig.withSimClosedLoopController(double, double, double, LinearVelocity, LinearAcceleration, SmartMotorController.ClosedLoopControllerSlot)	Use SmartMotorControllerConfig.withTrapezoidalProfile(LinearVelocity, LinearAcceleration) to define your trapezoidal profile.
yams.motorcontrollers.SmartMotorControllerConfig.withSimClosedLoopController(ProfiledPIDController)
yams.motorcontrollers.SmartMotorControllerConfig.withSimClosedLoopController(ExponentialProfilePIDController)

Deprecated Fields

Field	Description
yams.mechanisms.config.DifferentialMechanismConfig.networkRoot
yams.mechanisms.config.ElevatorConfig.networkRoot
yams.mechanisms.config.PivotConfig.networkRoot

Deprecated Methods

Method	Description
yams.mechanisms.config.ArmConfig.getTelemetryNetworkTableName()
yams.mechanisms.config.ArmConfig.withMOI(double)
yams.mechanisms.config.ArmConfig.withTelemetry(String, String, SmartMotorControllerConfig.TelemetryVerbosity)
yams.mechanisms.config.DifferentialMechanismConfig.getNetworkRoot()
yams.mechanisms.config.DifferentialMechanismConfig.withMOI(double)
yams.mechanisms.config.ElevatorConfig.getNetworkRoot()
yams.mechanisms.config.ElevatorConfig.withTelemetry(String, String, SmartMotorControllerConfig.TelemetryVerbosity)
yams.mechanisms.config.FlyWheelConfig.getTelemetryNetworkTableName()
yams.mechanisms.config.FlyWheelConfig.withMOI(double)
yams.mechanisms.config.FlyWheelConfig.withTelemetry(String, String, SmartMotorControllerConfig.TelemetryVerbosity)
yams.mechanisms.config.PivotConfig.getNetworkRoot()
yams.mechanisms.config.PivotConfig.withMOI(double)
yams.mechanisms.config.PivotConfig.withTelemetry(String, String, SmartMotorControllerConfig.TelemetryVerbosity)
yams.mechanisms.positional.Arm.setMeasurementPositionSetpoint(Distance)
yams.mechanisms.positional.Arm.setMeasurementVelocitySetpoint(LinearVelocity)
yams.mechanisms.positional.DifferentialMechanism.max()
yams.mechanisms.positional.DifferentialMechanism.min()
yams.mechanisms.positional.DifferentialMechanism.runTo(Angle, Angle)
yams.mechanisms.positional.DifferentialMechanism.runTo(Supplier<Angle>, Supplier<Angle>)
yams.mechanisms.positional.DifferentialMechanism.set(double)
yams.mechanisms.positional.DifferentialMechanism.set(Supplier<Double>)
yams.mechanisms.positional.DifferentialMechanism.setDutyCycleSetpoint(double)
yams.mechanisms.positional.DifferentialMechanism.setMeasurementPositionSetpoint(Distance)
yams.mechanisms.positional.DifferentialMechanism.setMeasurementVelocitySetpoint(LinearVelocity)
yams.mechanisms.positional.DifferentialMechanism.setMechanismPositionSetpoint(Angle)
yams.mechanisms.positional.DifferentialMechanism.setMechanismVelocitySetpoint(AngularVelocity)
yams.mechanisms.positional.DifferentialMechanism.setVoltage(Voltage)
yams.mechanisms.positional.DifferentialMechanism.setVoltage(Supplier<Voltage>)
yams.mechanisms.positional.DifferentialMechanism.setVoltageSetpoint(Voltage)
yams.mechanisms.positional.DifferentialMechanism.sysId(Voltage, Velocity<VoltageUnit>, Time)
yams.mechanisms.positional.DoubleJointedArm.max()
yams.mechanisms.positional.DoubleJointedArm.min()
yams.mechanisms.positional.DoubleJointedArm.set(double)
yams.mechanisms.positional.DoubleJointedArm.set(Supplier<Double>)
yams.mechanisms.positional.DoubleJointedArm.setDutyCycleSetpoint(double)
yams.mechanisms.positional.DoubleJointedArm.setMeasurementPositionSetpoint(Distance)
yams.mechanisms.positional.DoubleJointedArm.setMeasurementVelocitySetpoint(LinearVelocity)
yams.mechanisms.positional.DoubleJointedArm.setMechanismPositionSetpoint(Angle)
yams.mechanisms.positional.DoubleJointedArm.setMechanismVelocitySetpoint(AngularVelocity)
yams.mechanisms.positional.DoubleJointedArm.setVoltage(Voltage)
yams.mechanisms.positional.DoubleJointedArm.setVoltage(Supplier<Voltage>)
yams.mechanisms.positional.DoubleJointedArm.setVoltageSetpoint(Voltage)
yams.mechanisms.positional.DoubleJointedArm.sysId(Voltage, Velocity<VoltageUnit>, Time)
yams.mechanisms.positional.Pivot.setMeasurementPositionSetpoint(Distance)
yams.mechanisms.positional.Pivot.setMeasurementVelocitySetpoint(LinearVelocity)
yams.mechanisms.SmartMechanism.gearbox(double...)	Use GearBox.fromReductionStages(double...) instead.
yams.mechanisms.SmartMechanism.gearbox(String...)	Use GearBox.fromStages(String...) instead.
yams.mechanisms.SmartMechanism.gearing(GearBox)	Use MechanismGearing instead.
yams.mechanisms.SmartMechanism.gearing(GearBox, Sprocket)	Use MechanismGearing(GearBox, Sprocket) instead.
yams.mechanisms.SmartMechanism.sprocket(double...)	Use Sprocket.fromStages(String...) instead.
yams.mechanisms.SmartMechanism.sprocket(String...)	Use Sprocket.fromStages(String...) instead.
yams.mechanisms.swerve.utility.SwerveInputStream.driveToPose(Supplier<Pose2d>, ProfiledPIDController, ProfiledPIDController)
yams.mechanisms.swerve.utility.SwerveInputStream.driveToPoseEnabled(boolean)
yams.mechanisms.swerve.utility.SwerveInputStream.driveToPoseEnabled(BooleanSupplier)
yams.mechanisms.swerve.utility.SwerveInputStream.resetDriveToPosePIDControllers()
yams.mechanisms.velocity.FlyWheel.getMechanismSetpoint()
yams.mechanisms.velocity.FlyWheel.setMeasurementPositionSetpoint(Distance)
yams.motorcontrollers.local.NovaWrapper.setOpenLoopRampRate(Time)
yams.motorcontrollers.local.SparkWrapper.getSupplyCurrent()
yams.motorcontrollers.local.SparkWrapper.setSupplyCurrentLimit(Current)
yams.motorcontrollers.remote.TalonFXSWrapper.setEncoderVelocity(AngularVelocity)
yams.motorcontrollers.remote.TalonFXSWrapper.setSupplyCurrentLimit(Current)
yams.motorcontrollers.remote.TalonFXSWrapper.synchronizeRelativeEncoder()
yams.motorcontrollers.remote.TalonFXWrapper.setEncoderVelocity(AngularVelocity)
yams.motorcontrollers.remote.TalonFXWrapper.setSupplyCurrentLimit(Current)
yams.motorcontrollers.remote.TalonFXWrapper.synchronizeRelativeEncoder()
yams.motorcontrollers.SmartMotorControllerConfig.withClosedLoopController(double, double, double, AngularAcceleration, Velocity<AngularAccelerationUnit>)	Use SmartMotorControllerConfig.withTrapezoidalProfile(AngularAcceleration, Velocity<AngularAccelerationUnit>) to define your trapezoidal profile.
yams.motorcontrollers.SmartMotorControllerConfig.withClosedLoopController(double, double, double, AngularAcceleration, Velocity<AngularAccelerationUnit>, SmartMotorController.ClosedLoopControllerSlot)	Use SmartMotorControllerConfig.withTrapezoidalProfile(AngularAcceleration, Velocity<AngularAccelerationUnit>) to define your trapezoidal profile.
yams.motorcontrollers.SmartMotorControllerConfig.withClosedLoopController(double, double, double, AngularVelocity, AngularAcceleration)	Please use SmartMotorControllerConfig.withTrapezoidalProfile(AngularVelocity, AngularAcceleration) to define your trapezoidal profile.
yams.motorcontrollers.SmartMotorControllerConfig.withClosedLoopController(double, double, double, AngularVelocity, AngularAcceleration, SmartMotorController.ClosedLoopControllerSlot)	Please use SmartMotorControllerConfig.withTrapezoidalProfile(AngularVelocity, AngularAcceleration) to define your trapezoidal profile.
yams.motorcontrollers.SmartMotorControllerConfig.withClosedLoopController(double, double, double, LinearAcceleration, Velocity<LinearAccelerationUnit>)	Use SmartMotorControllerConfig.withTrapezoidalProfile(LinearAcceleration, Velocity<LinearAccelerationUnit>) to define your trapezoidal profile.
yams.motorcontrollers.SmartMotorControllerConfig.withClosedLoopController(double, double, double, LinearAcceleration, Velocity<LinearAccelerationUnit>, SmartMotorController.ClosedLoopControllerSlot)	Use SmartMotorControllerConfig.withTrapezoidalProfile(LinearAcceleration, Velocity<LinearAccelerationUnit>) to define your trapezoidal profile.
yams.motorcontrollers.SmartMotorControllerConfig.withClosedLoopController(double, double, double, LinearVelocity, LinearAcceleration)	Please use SmartMotorControllerConfig.withTrapezoidalProfile(LinearVelocity, LinearAcceleration) to define your trapezoidal profile.
yams.motorcontrollers.SmartMotorControllerConfig.withClosedLoopController(double, double, double, LinearVelocity, LinearAcceleration, SmartMotorController.ClosedLoopControllerSlot)	Please use SmartMotorControllerConfig.withTrapezoidalProfile(LinearVelocity, LinearAcceleration) to define your trapezoidal profile.
yams.motorcontrollers.SmartMotorControllerConfig.withClosedLoopController(ProfiledPIDController)	Use SmartMotorControllerConfig.withClosedLoopController(double, double, double) and SmartMotorControllerConfig.withTrapezoidalProfile(AngularVelocity, AngularAcceleration).
yams.motorcontrollers.SmartMotorControllerConfig.withClosedLoopController(ExponentialProfilePIDController)	Use SmartMotorControllerConfig.withClosedLoopController(double, double, double) and SmartMotorControllerConfig.withExponentialProfile(ExponentialProfile.Constraints).
yams.motorcontrollers.SmartMotorControllerConfig.withMomentOfInertia(double)
yams.motorcontrollers.SmartMotorControllerConfig.withSimClosedLoopController(double, double, double, AngularAcceleration, Velocity<AngularAccelerationUnit>)	Please use SmartMotorControllerConfig.withTrapezoidalProfile(AngularAcceleration, Velocity<AngularAccelerationUnit>) to define your trapezoidal profile.
yams.motorcontrollers.SmartMotorControllerConfig.withSimClosedLoopController(double, double, double, AngularAcceleration, Velocity<AngularAccelerationUnit>, SmartMotorController.ClosedLoopControllerSlot)	Please use SmartMotorControllerConfig.withTrapezoidalProfile(AngularAcceleration, Velocity<AngularAccelerationUnit>) to define your trapezoidal profile.
yams.motorcontrollers.SmartMotorControllerConfig.withSimClosedLoopController(double, double, double, AngularVelocity, AngularAcceleration)	Use SmartMotorControllerConfig.withTrapezoidalProfile(AngularVelocity, AngularAcceleration) to define your trapezoidal profile.
yams.motorcontrollers.SmartMotorControllerConfig.withSimClosedLoopController(double, double, double, AngularVelocity, AngularAcceleration, SmartMotorController.ClosedLoopControllerSlot)	Use SmartMotorControllerConfig.withTrapezoidalProfile(AngularVelocity, AngularAcceleration) to define your trapezoidal profile.
yams.motorcontrollers.SmartMotorControllerConfig.withSimClosedLoopController(double, double, double, LinearAcceleration, Velocity<LinearAccelerationUnit>)	Please use SmartMotorControllerConfig.withTrapezoidalProfile(LinearAcceleration, Velocity<LinearAccelerationUnit>) to define your trapezoidal profile.
yams.motorcontrollers.SmartMotorControllerConfig.withSimClosedLoopController(double, double, double, LinearAcceleration, Velocity<LinearAccelerationUnit>, SmartMotorController.ClosedLoopControllerSlot)	Please use SmartMotorControllerConfig.withTrapezoidalProfile(LinearAcceleration, Velocity<LinearAccelerationUnit>) to define your trapezoidal profile.
yams.motorcontrollers.SmartMotorControllerConfig.withSimClosedLoopController(double, double, double, LinearVelocity, LinearAcceleration)	Use SmartMotorControllerConfig.withTrapezoidalProfile(LinearVelocity, LinearAcceleration) to define your trapezoidal profile.
yams.motorcontrollers.SmartMotorControllerConfig.withSimClosedLoopController(double, double, double, LinearVelocity, LinearAcceleration, SmartMotorController.ClosedLoopControllerSlot)	Use SmartMotorControllerConfig.withTrapezoidalProfile(LinearVelocity, LinearAcceleration) to define your trapezoidal profile.
yams.motorcontrollers.SmartMotorControllerConfig.withSimClosedLoopController(ProfiledPIDController)
yams.motorcontrollers.SmartMotorControllerConfig.withSimClosedLoopController(ExponentialProfilePIDController)