Index

A B C D E F G H I K L M N O P R S T U V W X Y Z
All Classes and Interfaces|All Packages|Serialized Form

A

addCommand(String, Subsystem, Runnable) - Static method in class yams.motorcontrollers.SmartMotorControllerCommandRegistry

Add a command to the registry.

addSimTrigger(HALValue, BooleanSupplier) - Method in class yams.motorcontrollers.simulation.SensorData

Add a value set based on a trigger.

addSimTrigger(String, HALValue, BooleanSupplier) - Method in class yams.motorcontrollers.simulation.Sensor

Set a simulated value based on a trigger.

addVisionMeasurement(Pose2d, double) - Method in class yams.mechanisms.swerve.SwerveDrive

Add a vision measurement to the SwerveDrivePoseEstimator and update the gyro reading with the given timestamp of the vision measurement.

addVisionMeasurement(Pose2d, double, Matrix<N3, N1>) - Method in class yams.mechanisms.swerve.SwerveDrive

Add a vision measurement to the SwerveDrivePoseEstimator and update the gyro reading with the given timestamp of the vision measurement.

applyConfig() - Method in class yams.mechanisms.config.ArmConfig

Apply config changes from this class to the SmartMotorController

applyConfig() - Method in class yams.mechanisms.config.DifferentialMechanismConfig

Apply config changes from this class to the SmartMotorController

applyConfig() - Method in class yams.mechanisms.config.ElevatorConfig

Apply config changes from this class to the SmartMotorController

applyConfig() - Method in class yams.mechanisms.config.FlyWheelConfig

Apply config changes from this class to the SmartMotorController

applyConfig() - Method in class yams.mechanisms.config.PivotConfig

Apply config changes from this class to the SmartMotorController

applyConfig(SmartMotorControllerConfig) - Method in class yams.motorcontrollers.local.NovaWrapper

applyConfig(SmartMotorControllerConfig) - Method in class yams.motorcontrollers.local.SparkWrapper

applyConfig(SmartMotorControllerConfig) - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

applyConfig(SmartMotorControllerConfig) - Method in class yams.motorcontrollers.remote.TalonFXWrapper

applyConfig(SmartMotorControllerConfig) - Method in class yams.motorcontrollers.SmartMotorController

Apply the SmartMotorControllerConfig to the SmartMotorController.

applyTuningValues(SmartMotorController) - Method in class yams.telemetry.SmartMotorControllerTelemetry

Apply the tuning values from NetworkTable to the SmartMotorController

Arm - Class in yams.mechanisms.positional

Arm mechanism.

Arm(ArmConfig) - Constructor for class yams.mechanisms.positional.Arm

Constructor for the Arm mechanism.

ArmConfig - Class in yams.mechanisms.config

Arm configuration class.

ArmConfig() - Constructor for class yams.mechanisms.config.ArmConfig

Arm configuration class.

ArmConfig(SmartMotorController) - Constructor for class yams.mechanisms.config.ArmConfig

Arm Configuration class

ArmConfigurationException - Exception in yams.exceptions

Exception for when the Arm is configured incorrectly.

ArmConfigurationException(String, String, String) - Constructor for exception yams.exceptions.ArmConfigurationException

Arm configuration exception.

ArmFeedForward - Enum constant in enum class yams.telemetry.SmartMotorControllerTelemetry.BooleanTelemetryField

Arm feedforward currently getting used.

ArmSimSupplier - Class in yams.motorcontrollers.simulation

ArmSim Supplier

ArmSimSupplier(SingleJointedArmSim, SmartMotorController) - Constructor for class yams.motorcontrollers.simulation.ArmSimSupplier

Construct the ArmSim supplier

atSetpoint() - Method in class yams.math.ExponentialProfilePIDController

Returns true if the error is within the tolerance of the setpoint.

atTargetPose(double) - Method in class yams.mechanisms.swerve.utility.SwerveInputStream

When the SwerveInputStream is in SwerveInputStream.SwerveInputMode.DRIVE_TO_POSE this function will return if the robot is at the desired pose within the defined tolerance.

availableControllers - Static variable in class yams.motorcontrollers.SmartMotorFactory

Available motor controller constructors.

B

between(Angle, Angle) - Method in class yams.mechanisms.positional.Arm

Between two angles.

between(Angle, Angle) - Method in class yams.mechanisms.positional.Pivot

Between two angles.

between(AngularVelocity, AngularVelocity) - Method in class yams.mechanisms.velocity.FlyWheel

Between two velocities.

between(Distance, Distance) - Method in class yams.mechanisms.positional.Elevator

Between two heights.

BooleanTelemetry - Class in yams.telemetry

Boolean Telemetry for SmartMotorControllers.

BooleanTelemetry(String, boolean, SmartMotorControllerTelemetry.BooleanTelemetryField, boolean) - Constructor for class yams.telemetry.BooleanTelemetry

Setup boolean telemetry for a field.

BRAKE - Enum constant in enum class yams.motorcontrollers.SmartMotorControllerConfig.MotorMode

Brake mode.

C

calculate(double, double) - Method in class yams.math.ExponentialProfilePIDController

Calculate the feedback, assuming no setpoint velocity.

calculate(double, double, double) - Method in class yams.math.ExponentialProfilePIDController

Calculate the feedback, assuming previous state velocity.

Chain - Static variable in class yams.units.YUnits

20.1168 (Except in India, where it is 20 meters) Units.Meterss, or 66 Units.Feet.

Chains - Static variable in class yams.units.YUnits

20.1168 (Except in India, where it is 20 meters) Units.Meterss, or 66 Units.Feet.

checkConfigSafety() - Method in class yams.motorcontrollers.SmartMotorController

Check config for safe values.

clearFollowers() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Clear the follower motors so they are not reapplied

clone() - Method in class yams.mechanisms.config.ArmConfig

clone() - Method in class yams.mechanisms.config.DifferentialMechanismConfig

clone() - Method in class yams.mechanisms.config.ElevatorConfig

clone() - Method in class yams.mechanisms.config.FlyWheelConfig

clone() - Method in class yams.mechanisms.config.PivotConfig

clone() - Method in class yams.mechanisms.config.SwerveModuleConfig

clone() - Method in class yams.mechanisms.swerve.utility.SwerveInputStream

Copy the SwerveInputStream object.

clone() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

close() - Method in class yams.motorcontrollers.SmartMotorController

Close the SMC for unit testing.

close() - Method in class yams.telemetry.BooleanTelemetry

Close the telemetry field.

close() - Method in class yams.telemetry.DoubleTelemetry

Close the telemetry field.

close() - Method in class yams.telemetry.SmartMotorControllerTelemetry

Close and unpublish telemetry.

CLOSED_LOOP - Enum constant in enum class yams.motorcontrollers.SmartMotorControllerConfig.ControlMode

Use the PID controller.

ClosedloopRampRate - Enum constant in enum class yams.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField

Closed loop dutycyle ramp rate.

COAST - Enum constant in enum class yams.motorcontrollers.SmartMotorControllerConfig.MotorMode

Coast mode.

commandExists(String, Subsystem) - Static method in class yams.motorcontrollers.SmartMotorControllerCommandRegistry

Check if a command exists.

convert(boolean) - Static method in class yams.motorcontrollers.simulation.SensorData

Convert a boolean into a HALValue.

convert(double) - Static method in class yams.motorcontrollers.simulation.SensorData

Convert a double into a HALValue.

convert(int) - Static method in class yams.motorcontrollers.simulation.SensorData

Convert an int into a HALValue.

convert(long) - Static method in class yams.motorcontrollers.simulation.SensorData

Convert a long into a HALValue.

convert(BooleanSupplier) - Static method in class yams.motorcontrollers.simulation.SensorData

Convert a BooleanSupplier into a Supplier<HALValue>.

convert(DoubleSupplier) - Static method in class yams.motorcontrollers.simulation.SensorData

Convert a DoubleSupplier into a Supplier<HALValue>.

convert(IntSupplier) - Static method in class yams.motorcontrollers.simulation.SensorData

Convert an IntSupplier into a Supplier<HALValue>.

convert(LongSupplier) - Static method in class yams.motorcontrollers.simulation.SensorData

Convert a LongSupplier into a Supplier<HALValue>.

convertFromMechanism(Angle) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Convert Angle to Distance using SmartMotorControllerConfig.mechanismCircumference

convertFromMechanism(AngularAcceleration) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Convert Angle to LinearAcceleration using SmartMotorControllerConfig.mechanismCircumference

convertFromMechanism(AngularVelocity) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Convert Angle to LinearVelocity using SmartMotorControllerConfig.mechanismCircumference

convertToMechanism(Distance) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Convert Distance to Angle using SmartMotorControllerConfig.mechanismCircumference

convertToMechanism(LinearAcceleration) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Convert LinearAcceleration to AngularAcceleration using the SmartMotorControllerConfig.mechanismCircumference

convertToMechanism(LinearVelocity) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Convert LinearVelocity to AngularVelocity using the SmartMotorControllerConfig.mechanismCircumference

create() - Method in enum class yams.telemetry.SmartMotorControllerTelemetry.BooleanTelemetryField

Create a BooleanTelemetry object for non-static usage.

create() - Method in enum class yams.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField

Create double telemetry field.

create(Object...) - Method in interface yams.motorcontrollers.SmartMotorFactory.MotorControllerConstructor

Create a motor controller instance.

create(Object, DCMotor, SmartMotorControllerConfig) - Static method in class yams.motorcontrollers.SmartMotorController

Create a SmartMotorController wrapper from the provided motor controller object.

create(Object, Object...) - Static method in class yams.motorcontrollers.SmartMotorFactory

Create a motor controller instance.

createArmConstraints(Voltage, DCMotor, Mass, Distance, MechanismGearing) - Static method in class yams.math.ExponentialProfilePIDController

Get the ExponentialProfile.Constraints for an arm.

createArmConstraints(Voltage, DCMotor, MomentOfInertia, MechanismGearing) - Static method in class yams.math.ExponentialProfilePIDController

Get the ExponentialProfile.Constraints for an arm.

createConstraints(Voltage, AngularVelocity, AngularAcceleration) - Static method in class yams.math.ExponentialProfilePIDController

Create a generic constraints object.

createElevatorConstraints(Voltage, DCMotor, Mass, Distance, MechanismGearing) - Static method in class yams.math.ExponentialProfilePIDController

Get the ExponentialProfile.Constraints for an elevator.

createFlywheelConstraints(Voltage, DCMotor, Mass, Distance, MechanismGearing) - Static method in class yams.math.ExponentialProfilePIDController

Get the ExponentialProfile.Constraints for a flywheel.

createFlywheelConstraints(Voltage, DCMotor, MomentOfInertia, MechanismGearing) - Static method in class yams.math.ExponentialProfilePIDController

Get the ExponentialProfile.Constraints for a flywheel.

createValue(SimDevice, SimDevice.Direction) - Method in class yams.motorcontrollers.simulation.SensorData

Get the SimValue for the sensor.

cubeTranslation(Translation2d) - Static method in class yams.mechanisms.config.SwerveDriveConfig

Cube the Translation2d magnitude given in Polar coordinates.

Cubit - Static variable in class yams.units.YUnits

457.2/1000 of a Units.Meters, or 18 Units.Inches.

Cubits - Static variable in class yams.units.YUnits

457.2/1000 of a Units.Meters, or 18 Units.Inches.

D

Days - Static variable in class yams.units.YUnits

24 Hours.

DCMotorSimSupplier - Class in yams.motorcontrollers.simulation

DCMotorSim Supplier

DCMotorSimSupplier(DCMotorSim, SmartMotorController) - Constructor for class yams.motorcontrollers.simulation.DCMotorSimSupplier

Construct the DCMotorSim supplier

deadband(double) - Method in class yams.mechanisms.swerve.utility.SwerveInputStream

Set a deadband for all controller axis.

DifferentialMechanism - Class in yams.mechanisms.positional

Arm mechanism.

DifferentialMechanism(DifferentialMechanismConfig) - Constructor for class yams.mechanisms.positional.DifferentialMechanism

Constructor for the Differential mechanism.

DifferentialMechanismConfig - Class in yams.mechanisms.config

Differential Mechanism config.

DifferentialMechanismConfig() - Constructor for class yams.mechanisms.config.DifferentialMechanismConfig

Differential Mechanism configuration class.

DifferentialMechanismConfig(SmartMotorController, SmartMotorController) - Constructor for class yams.mechanisms.config.DifferentialMechanismConfig

Differential Mechanism configuration class.

DifferentialMechanismConfigurationException - Exception in yams.exceptions

Exception for when the Differential Mechanism is configured incorrectly.

DifferentialMechanismConfigurationException(String, String, String) - Constructor for exception yams.exceptions.DifferentialMechanismConfigurationException

Differential Mechanism configuration exception.

disable() - Method in class yams.telemetry.BooleanTelemetry

Disable the telemetry.

disable() - Method in class yams.telemetry.DoubleTelemetry

Disable the telemetry.

disableSpeedometerSimulation() - Method in class yams.mechanisms.config.FlyWheelConfig

Disable the use of the speedometer simulation for the shooter.

display(boolean) - Method in class yams.telemetry.BooleanTelemetry

Display the telemetry.

display(boolean) - Method in class yams.telemetry.DoubleTelemetry

Display the telemetry.

div(double) - Method in class yams.gearing.GearBox

Divide the gear reduction ratio by X.

div(double) - Method in class yams.gearing.MechanismGearing

Divide the gearbox reduction ratio by i.

div(double) - Method in class yams.gearing.Sprocket

Divide the sprocket reduction ratio by X.

DoubleJointedArm - Class in yams.mechanisms.positional

Arm mechanism.

DoubleJointedArm(ArmConfig, ArmConfig) - Constructor for class yams.mechanisms.positional.DoubleJointedArm

Constructor for the Arm mechanism.

DoubleJointedArmConfigurationException - Exception in yams.exceptions

Exception for when the Arm is configured incorrectly.

DoubleJointedArmConfigurationException(String, String, String) - Constructor for exception yams.exceptions.DoubleJointedArmConfigurationException

Arm configuration exception.

DoubleTelemetry - Class in yams.telemetry

Double Telemetry for SmartMotorControllers.

DoubleTelemetry(String, double, SmartMotorControllerTelemetry.DoubleTelemetryField, boolean, String) - Constructor for class yams.telemetry.DoubleTelemetry

Setup double telemetry for a field.

drive(Supplier<ChassisSpeeds>) - Method in class yams.mechanisms.swerve.SwerveDrive

Create a RunCommand to drive the swerve drive with robot relative chassis speeds.

driveToPose(Pose2d) - Method in class yams.mechanisms.swerve.SwerveDrive

Drive the robot to the given pose.

driveToPose(Supplier<Pose2d>, ProfiledPIDController, ProfiledPIDController) - Method in class yams.mechanisms.swerve.utility.SwerveInputStream

Deprecated, for removal: This API element is subject to removal in a future version.

driveToPoseEnabled(boolean) - Method in class yams.mechanisms.swerve.utility.SwerveInputStream

Deprecated, for removal: This API element is subject to removal in a future version.

driveToPoseEnabled(BooleanSupplier) - Method in class yams.mechanisms.swerve.utility.SwerveInputStream

Deprecated, for removal: This API element is subject to removal in a future version.

E

Elevator - Class in yams.mechanisms.positional

Elevator mechanism.

Elevator(ElevatorConfig) - Constructor for class yams.mechanisms.positional.Elevator

Construct the Elevator class for easy manipulation of an elevator.

ElevatorConfig - Class in yams.mechanisms.config

Elevator configuration class.

ElevatorConfig() - Constructor for class yams.mechanisms.config.ElevatorConfig

Elevator Configuration class

ElevatorConfig(SmartMotorController) - Constructor for class yams.mechanisms.config.ElevatorConfig

Elevator Configuration class

ElevatorConfigurationException - Exception in yams.exceptions

Exception for when the Elevator is configured incorrectly.

ElevatorConfigurationException(String, String, String) - Constructor for exception yams.exceptions.ElevatorConfigurationException

Elevator configuration exception.

ElevatorFeedForward - Enum constant in enum class yams.telemetry.SmartMotorControllerTelemetry.BooleanTelemetryField

Elevator feedforward currently getting used.

enable() - Method in class yams.telemetry.BooleanTelemetry

Enable the telemetry.

enable() - Method in class yams.telemetry.DoubleTelemetry

Enable the telemetry.

enableContinuousInput(double, double) - Method in class yams.math.ExponentialProfilePIDController

Enables continuous input.

enabled - Variable in class yams.telemetry.BooleanTelemetry

Enabled?

enabled - Variable in class yams.telemetry.DoubleTelemetry

Enabled?

EncoderInversion - Enum constant in enum class yams.telemetry.SmartMotorControllerTelemetry.BooleanTelemetryField

Encoder inversion.

ExponentialProfilePIDController - Class in yams.math

Exponential profile PID controller.

ExponentialProfilePIDController(double, double, double, ExponentialProfile.Constraints) - Constructor for class yams.math.ExponentialProfilePIDController

Constructor.

ExponentialProfilePIDController(PIDController, ExponentialProfile.Constraints) - Constructor for class yams.math.ExponentialProfilePIDController

Constructor.

F

Fathom - Static variable in class yams.units.YUnits

1.8288 Units.Meterss, or 6 Units.Feet.

Fathoms - Static variable in class yams.units.YUnits

1.8288 Units.Meterss, or 6 Units.Feet.

feedInput() - Method in interface yams.motorcontrollers.SimSupplier

Feed input

feedInput() - Method in class yams.motorcontrollers.simulation.ArmSimSupplier

feedInput() - Method in class yams.motorcontrollers.simulation.DCMotorSimSupplier

feedUpdateSim() - Method in interface yams.motorcontrollers.SimSupplier

Feed the update sim watch

feedUpdateSim() - Method in class yams.motorcontrollers.simulation.ArmSimSupplier

feedUpdateSim() - Method in class yams.motorcontrollers.simulation.DCMotorSimSupplier

FlyWheel - Class in yams.mechanisms.velocity

FlyWheel mechanism.

FlyWheel(FlyWheelConfig) - Constructor for class yams.mechanisms.velocity.FlyWheel

Construct the FlyWheel class

FlyWheelConfig - Class in yams.mechanisms.config

FlyWheel configuration class.

FlyWheelConfig() - Constructor for class yams.mechanisms.config.FlyWheelConfig

FlyWheel configuration class.

FlyWheelConfig(SmartMotorController) - Constructor for class yams.mechanisms.config.FlyWheelConfig

Arm Configuration class

FlyWheelConfigurationException - Exception in yams.exceptions

Exception for when the FlyWheel is configured incorrectly.

FlyWheelConfigurationException(String, String, String) - Constructor for exception yams.exceptions.FlyWheelConfigurationException

FlyWheel configuration exception.

FootlongSandwich - Static variable in class yams.units.YUnits

1 Units.Feet, or Sandwich

forceConfigApply() - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

Ensure setting is applied, retries every 10ms.

forceConfigApply() - Method in class yams.motorcontrollers.remote.TalonFXWrapper

Ensure setting is applied, retries every 10ms.

Fortnight - Static variable in class yams.units.YUnits

2 Weeks.

FPF - Static variable in class yams.units.YUnits

1 Furlongs per Fortnight.

fromReductionStages(double...) - Static method in class yams.gearing.GearBox

Create the gearbox given the reduction stages of the gearbox.

fromStages(String...) - Static method in class yams.gearing.GearBox

Create the gearbox given the reduction stages of the gearbox.

fromStages(String...) - Static method in class yams.gearing.Sprocket

Construct the Sprocket with the reduction stages given.

Furlong - Static variable in class yams.units.YUnits

201.168 Units.Meterss, or 10 Chains.

Furlongs - Static variable in class yams.units.YUnits

201.168 Units.Meterss, or 10 Chains.

FurlongsPerFortnight - Static variable in class yams.units.YUnits

1 Furlongs per Fortnight.

G

gearbox(double...) - Static method in class yams.mechanisms.SmartMechanism

Deprecated, for removal: This API element is subject to removal in a future version.

Use GearBox.fromReductionStages(double...) instead.

gearbox(String...) - Static method in class yams.mechanisms.SmartMechanism

Deprecated, for removal: This API element is subject to removal in a future version.

Use GearBox.fromStages(String...) instead.

gearBox(double...) - Static method in class yams.math.SmartMath

Create the gear ratio based off of the stages in the gear box.

GearBox - Class in yams.gearing

GearBox class to calculate input and output conversion factors and check if the current configuration is supported.

GearBox(double[]) - Constructor for class yams.gearing.GearBox

Construct the GearBox with the reduction stages given.

GearBox(String[]) - Constructor for class yams.gearing.GearBox

Construct the GearBox with the reduction stages given.

gearing(GearBox) - Static method in class yams.mechanisms.SmartMechanism

Deprecated, for removal: This API element is subject to removal in a future version.

Use MechanismGearing instead.

gearing(GearBox, Sprocket) - Static method in class yams.mechanisms.SmartMechanism

Deprecated, for removal: This API element is subject to removal in a future version.

Use MechanismGearing(GearBox, Sprocket) instead.

get() - Method in class yams.mechanisms.swerve.utility.SwerveInputStream

Gets a ChassisSpeeds

get() - Method in class yams.telemetry.BooleanTelemetry

Get the value.

get() - Method in class yams.telemetry.DoubleTelemetry

Get the value.

getAbsoluteEncoderAngle() - Method in class yams.mechanisms.config.SwerveModuleConfig

Get the absolute encoder angle for the azimuth SmartMotorController.

getAngle() - Method in class yams.mechanisms.config.ElevatorConfig

Get the Angle of the Elevator

getAngle() - Method in class yams.mechanisms.positional.Arm

Get the SmartMotorController Mechanism Position representing the arm.

getAngle() - Method in class yams.mechanisms.positional.Pivot

Get the SmartMotorController Mechanism Position representing the pivot.

getAngleDifferenceFromPose(Pose2d) - Method in class yams.mechanisms.swerve.SwerveDrive

Get the angle difference between the robot's current pose and the given pose.

getAnglesForPosition(Translation2d, boolean) - Method in class yams.mechanisms.positional.DoubleJointedArm

Inverse Kinematics for a DoubleJointedArm

getArmConfig() - Method in class yams.mechanisms.positional.Arm

Get the ArmConfig for this Arm.

getArmFeedforward() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Get the ArmFeedforward if it is set.

getAsBoolean() - Method in class yams.motorcontrollers.simulation.SensorData

Get the sensor value as a boolean.

getAsBoolean(String) - Method in class yams.motorcontrollers.simulation.Sensor

Get a field from the simulated or real sensor.

getAsDouble() - Method in class yams.motorcontrollers.simulation.SensorData

Get the sensor value as a double.

getAsDouble(String) - Method in class yams.motorcontrollers.simulation.Sensor

Get a field from the simulated or real sensor.

getAsInt() - Method in class yams.motorcontrollers.simulation.SensorData

Get the sensor value as an int.

getAsInt(String) - Method in class yams.motorcontrollers.simulation.Sensor

Get a field from the simulated or real sensor.

getAsLong() - Method in class yams.motorcontrollers.simulation.SensorData

Get the sensor value as a long.

getAsLong(String) - Method in class yams.motorcontrollers.simulation.Sensor

Get a field from the simulated or real sensor.

getAzimuthMotor() - Method in class yams.mechanisms.config.SwerveModuleConfig

Get the azimuth SmartMotorController for the SwerveModule.

getBoolFields(SmartMotorController) - Method in class yams.telemetry.SmartMotorControllerTelemetryConfig

Get the configured bool fields.

getCarriageMass() - Method in class yams.mechanisms.config.ElevatorConfig

Get the Mass of the Elevator carriage.

getCenterOfRotation() - Method in class yams.mechanisms.config.SwerveDriveConfig

Get the center of rotation.

getClosedLoopController() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Get the controller for the SmartMotorController, the units passed in are in Rotations (or Meters if Mechanism Circumference is configured), the outputs are in Volts.

getClosedLoopControllerMaximumVoltage() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Get the closed loop maximum voltage.

getClosedLoopControlPeriod() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Get the period of the SmartMotorController closed loop period.

getClosedLoopRampRate() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Get the closed loop ramp rate.

getClosedLoopTolerance() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Get the SmartMotorController closed loop controller tolerance.

getConfig() - Method in class yams.mechanisms.positional.Elevator

Get the ElevatorConfig for this Elevator

getConfig() - Method in class yams.mechanisms.swerve.SwerveDrive

Get the SwerveDriveConfig of the drive.

getConfig() - Method in class yams.mechanisms.swerve.SwerveModule

Get the SwerveModuleConfig for the module.

getConfig() - Method in class yams.motorcontrollers.local.NovaWrapper

getConfig() - Method in class yams.motorcontrollers.local.SparkWrapper

getConfig() - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

getConfig() - Method in class yams.motorcontrollers.remote.TalonFXWrapper

getConfig() - Method in class yams.motorcontrollers.SmartMotorController

Get the SmartMotorControllerConfig for the SmartMotorController

getConstraints() - Method in class yams.math.ExponentialProfilePIDController

Get the constraints.

getCurrentAngle() - Method in class yams.math.ExponentialProfilePIDController

Get the current angle.

getCurrentDraw() - Method in interface yams.motorcontrollers.SimSupplier

Get the current draw of from the sim.

getCurrentDraw() - Method in class yams.motorcontrollers.simulation.ArmSimSupplier

getCurrentDraw() - Method in class yams.motorcontrollers.simulation.DCMotorSimSupplier

getCurrentState() - Method in class yams.math.ExponentialProfilePIDController

Get the current state of the ExponentialProfile.

getCurrentVelocitySetpoint() - Method in class yams.math.ExponentialProfilePIDController

Get the current velocity from ExponentialProfile.

getD() - Method in class yams.math.ExponentialProfilePIDController

Get the Differential coefficient.

getDataTable() - Method in class yams.telemetry.MechanismTelemetry

Get the telemetry NetworkTable.

getDCMotor() - Method in class yams.motorcontrollers.local.NovaWrapper

getDCMotor() - Method in class yams.motorcontrollers.local.SparkWrapper

getDCMotor() - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

getDCMotor() - Method in class yams.motorcontrollers.remote.TalonFXWrapper

getDCMotor() - Method in class yams.motorcontrollers.SmartMotorController

Get the DCMotor modeling the motor controlled by the motor controller.

getDefault() - Method in class yams.motorcontrollers.simulation.SensorData

Get the default value.

getDevice() - Method in class yams.motorcontrollers.simulation.Sensor

Get the simulated device.

getDistanceFromPose(Pose2d) - Method in class yams.mechanisms.swerve.SwerveDrive

Get the Distance from the given pose to the robot.

getDoubleFields(SmartMotorController) - Method in class yams.telemetry.SmartMotorControllerTelemetryConfig

Get the configured double fields.

getDriveMotor() - Method in class yams.mechanisms.config.SwerveModuleConfig

Get the drive SmartMotorController for the SwerveModule.

getDrumRadius() - Method in class yams.mechanisms.config.ElevatorConfig

Get the Elevator drum radius.

getDutyCycle() - Method in class yams.motorcontrollers.local.NovaWrapper

getDutyCycle() - Method in class yams.motorcontrollers.local.SparkWrapper

getDutyCycle() - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

getDutyCycle() - Method in class yams.motorcontrollers.remote.TalonFXWrapper

getDutyCycle() - Method in class yams.motorcontrollers.SmartMotorController

Get the duty cycle output of the motor controller.

getElevatorFeedforward() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Get the ElevatorFeedforward Optional

getEncoderInverted() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Get the encoder inversion state

getExponentiallyProfiledClosedLoopController() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Get the controller for the SmartMotorController, the units passed in are in Rotations (or Meters if Mechanism Circumference is configured), the outputs are in Volts.

getExternalEncoder() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Get the external encoder.

getExternalEncoderGearing() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Get the external encoder gearing, default is 1:1 on a MAXPlanetary.

getExternalEncoderInverted() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Get whether or not the external encoder is inverted.

getFeedbackSynchronizationThreshold() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Get the feedback synchronization threshold.

getField() - Method in class yams.telemetry.BooleanTelemetry

Get the field.

getField() - Method in class yams.telemetry.DoubleTelemetry

Get the field.

getField(String) - Method in class yams.motorcontrollers.simulation.Sensor

Get a field from the simulated or real sensor.

getFieldRelativeSpeed() - Method in class yams.mechanisms.swerve.SwerveDrive

Get the field relative speed of the drive.

getFields() - Method in class yams.mechanisms.config.SensorConfig

Get the list of Fields (SensorData) for this sensor.

getFollowers() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Get the follower motors to the SmartMotorControllerConfig

getGearing() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Get the gearing to convert rotor rotations to mechanisms rotations connected to the SmartMotorController

getGyroAngle() - Method in class yams.mechanisms.config.SwerveDriveConfig

Get the gyro angle with inversions and offsets applied.

getGyroAngle() - Method in class yams.mechanisms.swerve.SwerveDrive

Get the Gyro Angle.

getGyroOffset() - Method in class yams.mechanisms.config.SwerveDriveConfig

Get the gyro offset.

getHeight() - Method in class yams.mechanisms.positional.Elevator

Get the Height of the Elevator.

getI() - Method in class yams.math.ExponentialProfilePIDController

Get the Integral coefficient.

getIdleMode() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Get the idle mode for the SmartMotorController

getInitialPose() - Method in class yams.mechanisms.config.SwerveDriveConfig

Get the starting pose of the robot.

getInputToOutputConversionFactor() - Method in class yams.gearing.GearBox

Get the conversion factor to transform the gearbox input into the gear box output rotations.

getInputToOutputConversionFactor() - Method in class yams.gearing.Sprocket

Get the conversion factor to transform the sprocket input into the sprocket output rotations.

getKa() - Method in class yams.math.ExponentialProfilePIDController

Get the acceleration gain kA

getKinematics() - Method in class yams.mechanisms.swerve.SwerveDrive

Create the SwerveDriveKinematics so you can recreate a new SwerveDrivePoseEstimator.

getKv() - Method in class yams.math.ExponentialProfilePIDController

Get the velocity gain as constant.

getLeftMechanismPosition(Angle, Angle) - Method in class yams.mechanisms.config.DifferentialMechanismConfig

The left SmartMotorController mechanism position.

getLeftMotorController() - Method in class yams.mechanisms.config.DifferentialMechanismConfig

Get the left SmartMotorController of the DifferentialMechanism

getLength() - Method in class yams.mechanisms.config.ArmConfig

Get the Length of the Arm

getLength() - Method in class yams.mechanisms.config.DifferentialMechanismConfig

Get the length of the DifferentialMechanism

getLength() - Method in class yams.mechanisms.config.FlyWheelConfig

Get the Length of the FlyWheel

getLocation() - Method in class yams.mechanisms.config.SwerveModuleConfig

Get the location of the SwerveModule in meters from the center of rotation.

getLooselyCoupledFollowers() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Get the loosely coupled follower motors.

getLowerAngle() - Method in class yams.mechanisms.positional.DoubleJointedArm

Get the shoulder angle of the DoubleJointedArm.

getLowerHardLimit() - Method in class yams.mechanisms.config.ArmConfig

Get the lower hard limit of the Arm

getLowerHardLimit() - Method in class yams.mechanisms.config.PivotConfig

Get the lower hard limit of the Pivot

getLowerSoftLimit() - Method in class yams.mechanisms.config.FlyWheelConfig

Get the lower soft limit of the shooter.

getMaxDiscontinuityPoint() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Get the discontinuity point for the SmartMotorController encoder.

getMaximumChassisAngularVelocity() - Method in class yams.mechanisms.config.SwerveDriveConfig

Get the maximum angular speed of the chassis.

getMaximumChassisLinearVelocity() - Method in class yams.mechanisms.config.SwerveDriveConfig

Get the maximum speed of the chassis.

getMaximumHeight() - Method in class yams.mechanisms.config.ElevatorConfig

Get the Upper hard limit of the Elevator.

getMaximumModuleLinearVelocity() - Method in class yams.mechanisms.config.SwerveDriveConfig

Get the maximum speed of the modules.

getMeasurementPosition() - Method in class yams.motorcontrollers.local.NovaWrapper

getMeasurementPosition() - Method in class yams.motorcontrollers.local.SparkWrapper

getMeasurementPosition() - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

getMeasurementPosition() - Method in class yams.motorcontrollers.remote.TalonFXWrapper

getMeasurementPosition() - Method in class yams.motorcontrollers.SmartMotorController

Get the usable measurement of the motor for mechanisms operating under distance units converted with the SmartMotorControllerConfig.

getMeasurementVelocity() - Method in class yams.motorcontrollers.local.NovaWrapper

getMeasurementVelocity() - Method in class yams.motorcontrollers.local.SparkWrapper

getMeasurementVelocity() - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

getMeasurementVelocity() - Method in class yams.motorcontrollers.remote.TalonFXWrapper

getMeasurementVelocity() - Method in class yams.motorcontrollers.SmartMotorController

Get the usable measurement of the motor for mechanisms operating under distance units converted with the SmartMotorControllerConfig.

getMechanismCircumference() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Get the mechanism to distance ratio for the SmartMotorController

getMechanismLigament() - Method in class yams.mechanisms.positional.SmartPositionalMechanism

Get the ligament of the 2D mechanism model.

getMechanismLigament() - Method in class yams.mechanisms.velocity.SmartVelocityMechanism

Get the ligament of the 2D mechanism model.

getMechanismLowerLimit() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Lower limit of the mechanism.

getMechanismPosition() - Method in class yams.motorcontrollers.local.NovaWrapper

getMechanismPosition() - Method in class yams.motorcontrollers.local.SparkWrapper

getMechanismPosition() - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

getMechanismPosition() - Method in class yams.motorcontrollers.remote.TalonFXWrapper

getMechanismPosition() - Method in interface yams.motorcontrollers.SimSupplier

Get the mechanism position.

getMechanismPosition() - Method in class yams.motorcontrollers.simulation.ArmSimSupplier

getMechanismPosition() - Method in class yams.motorcontrollers.simulation.DCMotorSimSupplier

getMechanismPosition() - Method in class yams.motorcontrollers.SmartMotorController

Get the mechanism Angle taking the configured MechanismGearing from SmartMotorControllerConfig.

getMechanismPositionConfig() - Method in class yams.mechanisms.config.ArmConfig

Get the MechanismPositionConfig associated with this ArmConfig.

getMechanismPositionConfig() - Method in class yams.mechanisms.config.DifferentialMechanismConfig

Get the MechanismPositionConfig associated with this DifferentialMechanismConfig.

getMechanismPositionConfig() - Method in class yams.mechanisms.config.ElevatorConfig

Get the mechanism position configuration of the elevator.

getMechanismPositionConfig() - Method in class yams.mechanisms.config.FlyWheelConfig

Get the MechanismPositionConfig associated with this FlyWheelConfig.

getMechanismPositionConfig() - Method in class yams.mechanisms.config.PivotConfig

Get the MechanismPositionConfig associated with this PivotConfig.

getMechanismPositionSetpoint() - Method in class yams.motorcontrollers.SmartMotorController

Get the Mechanism setpoint position.

getMechanismRoot() - Method in class yams.mechanisms.positional.SmartPositionalMechanism

The root of the 2D mechanism model.

getMechanismRoot() - Method in class yams.mechanisms.velocity.SmartVelocityMechanism

The root of the 2D mechanism model.

getMechanismSetpoint() - Method in class yams.mechanisms.SmartMechanism

Get the SmartMechanism's setpoint as an Angle if it exists.

getMechanismSetpointVelocity() - Method in class yams.motorcontrollers.SmartMotorController

Get the Mechanism velocity setpoint.

getMechanismStatorVoltage() - Method in interface yams.motorcontrollers.SimSupplier

Get the mechanism stator voltage.

getMechanismStatorVoltage() - Method in class yams.motorcontrollers.simulation.ArmSimSupplier

getMechanismStatorVoltage() - Method in class yams.motorcontrollers.simulation.DCMotorSimSupplier

getMechanismSupplyVoltage() - Method in interface yams.motorcontrollers.SimSupplier

Gets the supply voltage for the motor controller.

getMechanismSupplyVoltage() - Method in class yams.motorcontrollers.simulation.ArmSimSupplier

getMechanismSupplyVoltage() - Method in class yams.motorcontrollers.simulation.DCMotorSimSupplier

getMechanismToRotorRatio() - Method in class yams.gearing.MechanismGearing

Get the mechanism rotation to sensor rotation ratio for the mechanism.

getMechanismUpperLimit() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Upper limit of the mechanism.

getMechanismVelocity() - Method in class yams.motorcontrollers.local.NovaWrapper

getMechanismVelocity() - Method in class yams.motorcontrollers.local.SparkWrapper

getMechanismVelocity() - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

getMechanismVelocity() - Method in class yams.motorcontrollers.remote.TalonFXWrapper

getMechanismVelocity() - Method in interface yams.motorcontrollers.SimSupplier

Get the mechanism velocity.

getMechanismVelocity() - Method in class yams.motorcontrollers.simulation.ArmSimSupplier

getMechanismVelocity() - Method in class yams.motorcontrollers.simulation.DCMotorSimSupplier

getMechanismVelocity() - Method in class yams.motorcontrollers.SmartMotorController

Get the Mechanism AngularVelocity taking the configured MechanismGearing into the measurement applied via the SmartMotorControllerConfig.

getMechanismWindow() - Method in class yams.mechanisms.SmartMechanism

Get the Mechanism2d for the mechanism.

getMechanismX(Distance) - Method in class yams.mechanisms.config.MechanismPositionConfig

Converts a given distance in the x-direction to a x-coordinate appropriate for visualizing on a Mechanism2d.

getMechanismY(Distance) - Method in class yams.mechanisms.config.MechanismPositionConfig

Gets the distance in the y-direction appropriate for visualizing on a Mechanism2d, defaults to the given distance.

getMinDiscontinuityPoint() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Get the discontinuity point for the SmartMotorController encoder.

getMinimumHeight() - Method in class yams.mechanisms.config.ElevatorConfig

Get the lower hard limit of the Elevator

getModulePositions() - Method in class yams.mechanisms.swerve.SwerveDrive

Get the SwerveModulePosition of the modules.

getModules() - Method in class yams.mechanisms.config.SwerveDriveConfig

Get the SwerveModules for the SwerveDrive.

getModuleStates() - Method in class yams.mechanisms.swerve.SwerveDrive

Get the SwerveModuleState of the modules.

getMOI() - Method in class yams.mechanisms.config.ArmConfig

Get the moment of inertia for the Arm simulation.

getMOI() - Method in class yams.mechanisms.config.DifferentialMechanismConfig

Get the moment of inertia for the DifferentialMechanism simulation.

getMOI() - Method in class yams.mechanisms.config.FlyWheelConfig

Get the moment of inertia for the FlyWheel simulation.

getMOI() - Method in class yams.mechanisms.config.PivotConfig

Get the moment of inertia for the Pivot simulation.

getMOI() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Get the Moment of Inertia of the SmartMotorController's mechanism for the DCMotorSim.

getMotor() - Method in class yams.mechanisms.config.ArmConfig

Get the SmartMotorController of the Arm

getMotor() - Method in class yams.mechanisms.config.ElevatorConfig

Get the SmartMotorController of the Elevator

getMotor() - Method in class yams.mechanisms.config.FlyWheelConfig

Get the SmartMotorController of the FlyWheel

getMotor() - Method in class yams.mechanisms.config.PivotConfig

Get the SmartMotorController of the Pivot

getMotor() - Method in class yams.mechanisms.positional.SmartPositionalMechanism

Get the motor controller which is moving the mechanism.

getMotor() - Method in class yams.mechanisms.velocity.SmartVelocityMechanism

Get the motor controller which is moving the mechanism.

getMotorController() - Method in class yams.mechanisms.SmartMechanism

Get the SmartMotorController

getMotorController() - Method in class yams.motorcontrollers.local.NovaWrapper

getMotorController() - Method in class yams.motorcontrollers.local.SparkWrapper

getMotorController() - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

getMotorController() - Method in class yams.motorcontrollers.remote.TalonFXWrapper

getMotorController() - Method in class yams.motorcontrollers.SmartMotorController

Get the Motor Controller Object passed into the SmartMotorController.

getMotorControllerConfig() - Method in class yams.motorcontrollers.local.NovaWrapper

getMotorControllerConfig() - Method in class yams.motorcontrollers.local.SparkWrapper

getMotorControllerConfig() - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

getMotorControllerConfig() - Method in class yams.motorcontrollers.remote.TalonFXWrapper

getMotorControllerConfig() - Method in class yams.motorcontrollers.SmartMotorController

Get the motor controller object config generated by SmartMotorController based off the SmartMotorControllerConfig

getMotorControllerMode() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Get the motor controller mdoe to use.

getMotorInverted() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Get the motor inversion state

getMovementPlane() - Method in class yams.mechanisms.config.MechanismPositionConfig

Get the plane that the mechanism is on.

getName() - Method in class yams.mechanisms.config.SensorConfig

Get the name of the sensor.

getName() - Method in class yams.mechanisms.positional.Arm

getName() - Method in class yams.mechanisms.positional.DifferentialMechanism

getName() - Method in class yams.mechanisms.positional.DoubleJointedArm

getName() - Method in class yams.mechanisms.positional.Elevator

getName() - Method in class yams.mechanisms.positional.Pivot

getName() - Method in class yams.mechanisms.SmartMechanism

Get the name of the mechanism.

getName() - Method in class yams.mechanisms.swerve.SwerveDrive

Get the name of the drive.

getName() - Method in class yams.mechanisms.swerve.SwerveModule

Get the name of the module.

getName() - Method in class yams.mechanisms.velocity.FlyWheel

getName() - Method in class yams.motorcontrollers.simulation.SensorData

Get the sensor name.

getName() - Method in class yams.motorcontrollers.SmartMotorController

Get the name of the SmartMotorController

getNetworkRoot() - Method in class yams.mechanisms.config.DifferentialMechanismConfig

Deprecated.

getNetworkRoot() - Method in class yams.mechanisms.config.ElevatorConfig

Deprecated.

getNetworkRoot() - Method in class yams.mechanisms.config.PivotConfig

Deprecated.

getNextAngle() - Method in class yams.math.ExponentialProfilePIDController

Get the next angle from the ExponentialProfile

getNextState() - Method in class yams.math.ExponentialProfilePIDController

Get the next state of the ExponentialProfile.

getNextVelocitySetpoint() - Method in class yams.math.ExponentialProfilePIDController

Get the next velocity from ExponentialProfile

getOpenLoopRampRate() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Get the open loop ramp rate.

getOptimizedState(SwerveModuleState) - Method in class yams.mechanisms.config.SwerveModuleConfig

Get the optimized SwerveModuleState applying all optional optimizations.

getOutputToInputConversionFactor() - Method in class yams.gearing.GearBox

Get the conversion factor to transform the gearbox output value into the gear box input value.

getOutputToInputConversionFactor() - Method in class yams.gearing.Sprocket

Get the conversion factor to transform the sprocket output value into the sprocket input value.

getP() - Method in class yams.math.ExponentialProfilePIDController

Get the Proportional coefficient.

getPivotConfig() - Method in class yams.mechanisms.positional.Pivot

Get the PivotConfig object for this Pivot

getPose() - Method in class yams.mechanisms.swerve.SwerveDrive

Gets the measured pose (position and rotation) of the robot, as reported by odometry.

getPosition() - Method in class yams.mechanisms.positional.DoubleJointedArm

Get the Translation2d of the double jointed arm.

getPosition() - Method in class yams.mechanisms.swerve.SwerveModule

Get the SwerveModulePosition of the module.

getPositionTolerance() - Method in class yams.math.ExponentialProfilePIDController

Returns the error tolerance of this controller.

getRelativeMechanismPosition() - Method in class yams.mechanisms.positional.Arm

Get the relative position of the mechanism, taking into account the relative position defined in the MechanismPositionConfig.

getRelativeMechanismPosition() - Method in class yams.mechanisms.positional.DifferentialMechanism

Get the relative position of the mechanism, taking into account the relative position defined in the MechanismPositionConfig.

getRelativeMechanismPosition() - Method in class yams.mechanisms.positional.DoubleJointedArm

Get the relative position of the mechanism, taking into account the relative position defined in the MechanismPositionConfig.

getRelativeMechanismPosition() - Method in class yams.mechanisms.positional.Elevator

Get the relative position of the mechanism, taking into account the relative position defined in the MechanismPositionConfig.

getRelativeMechanismPosition() - Method in class yams.mechanisms.positional.Pivot

Get the relative position of the mechanism, taking into account the relative position defined in the MechanismPositionConfig.

getRelativeMechanismPosition() - Method in class yams.mechanisms.SmartMechanism

Get the Translation3d of the mechanism using Mechanism2d coordinates.

getRelativeMechanismPosition() - Method in class yams.mechanisms.velocity.FlyWheel

Get the relative position of the mechanism, taking into account the relative position defined in the MechanismPositionConfig.

getRelativePosition() - Method in class yams.mechanisms.config.MechanismPositionConfig

Get the relative position of the mechanism to the robot.

getRightMechanismPosition(Angle, Angle) - Method in class yams.mechanisms.config.DifferentialMechanismConfig

The right SmartMotorController mechanism position.

getRightMotorController() - Method in class yams.mechanisms.config.DifferentialMechanismConfig

Get the right SmartMotorController of the DifferentialMechanism

getRobotRelativeSpeed() - Method in class yams.mechanisms.swerve.SwerveDrive

Get the robot relative speed of the drive.

getRotationPID() - Method in class yams.mechanisms.config.SwerveDriveConfig

Get the rotation PID controller.

getRotorPosition() - Method in class yams.motorcontrollers.local.NovaWrapper

getRotorPosition() - Method in class yams.motorcontrollers.local.SparkWrapper

getRotorPosition() - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

getRotorPosition() - Method in class yams.motorcontrollers.remote.TalonFXWrapper

getRotorPosition() - Method in interface yams.motorcontrollers.SimSupplier

Get the rotor position.

getRotorPosition() - Method in class yams.motorcontrollers.simulation.ArmSimSupplier

getRotorPosition() - Method in class yams.motorcontrollers.simulation.DCMotorSimSupplier

getRotorPosition() - Method in class yams.motorcontrollers.SmartMotorController

Get the rotations of the motor with the relative encoder since the motor controller powered on scaled to the mechanism rotations.

getRotorToMechanismRatio() - Method in class yams.gearing.MechanismGearing

Get the sensor to the mechanism ratio for the motor to the mechanism.

getRotorVelocity() - Method in class yams.motorcontrollers.local.NovaWrapper

getRotorVelocity() - Method in class yams.motorcontrollers.local.SparkWrapper

getRotorVelocity() - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

getRotorVelocity() - Method in class yams.motorcontrollers.remote.TalonFXWrapper

getRotorVelocity() - Method in interface yams.motorcontrollers.SimSupplier

Get the rotor velocity.

getRotorVelocity() - Method in class yams.motorcontrollers.simulation.ArmSimSupplier

getRotorVelocity() - Method in class yams.motorcontrollers.simulation.DCMotorSimSupplier

getRotorVelocity() - Method in class yams.motorcontrollers.SmartMotorController

Gets the angular velocity of the motor.

getSensor() - Method in class yams.mechanisms.config.SensorConfig

Get the Sensor for this sensor.

getSetpoint() - Method in class yams.math.ExponentialProfilePIDController

Get the setpoint.

getShooterConfig() - Method in class yams.mechanisms.velocity.FlyWheel

Get the FlyWheelConfig object for this FlyWheel

getSimColor() - Method in class yams.mechanisms.config.ArmConfig

Get sim color

getSimColor() - Method in class yams.mechanisms.config.DifferentialMechanismConfig

Sim color value

getSimColor() - Method in class yams.mechanisms.config.ElevatorConfig

Get sim color

getSimColor() - Method in class yams.mechanisms.config.FlyWheelConfig

Get sim color

getSimColor() - Method in class yams.mechanisms.config.PivotConfig

Sim color value

getSimpleClosedLoopController() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Get the simple closed loop controller without motion profiling.

getSimpleFeedforward() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Get the SimpleMotorFeedforward Optional.

getSimSupplier() - Method in class yams.motorcontrollers.SmartMotorController

Get the sim supplier.

getSmartControllerTelemetryConfig() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Get the telemetry configuration

getSpeed() - Method in class yams.mechanisms.velocity.FlyWheel

Get the SmartMotorController Mechanism velocity representing the FlyWheel.

getSpeedometerMaxVelocity() - Method in class yams.mechanisms.config.FlyWheelConfig

Get the maximum velocity of the speedometer simulation.

getStartingAngle() - Method in class yams.mechanisms.config.ArmConfig

Get the starting angle of the Arm

getStartingAngle() - Method in class yams.mechanisms.config.PivotConfig

Get the starting angle of the Pivot

getStartingHeight() - Method in class yams.mechanisms.config.ElevatorConfig

Get the starting height of the Elevator

getStartingPosition() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Get the starting mechanism position of the SmartMotorController

getStartingTiltAngle() - Method in class yams.mechanisms.config.DifferentialMechanismConfig

Get starting tilt Angle.

getStartingTwistAngle() - Method in class yams.mechanisms.config.DifferentialMechanismConfig

Get starting twist Angle.

getState() - Method in class yams.mechanisms.swerve.SwerveModule

Get the SwerveModuleState of the module.

getStateFromRobotRelativeChassisSpeeds(ChassisSpeeds) - Method in class yams.mechanisms.swerve.SwerveDrive

Get the SwerveModuleStates of the swerve drive given a robot relative chassis speed..

getStateOptimization() - Method in class yams.mechanisms.config.SwerveModuleConfig

Enable or disable state optimization.

getStatorCurrent() - Method in class yams.motorcontrollers.local.NovaWrapper

getStatorCurrent() - Method in class yams.motorcontrollers.local.SparkWrapper

getStatorCurrent() - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

getStatorCurrent() - Method in class yams.motorcontrollers.remote.TalonFXWrapper

getStatorCurrent() - Method in class yams.motorcontrollers.SmartMotorController

Get the stator current of the motor controller.

getStatorStallCurrentLimit() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Get the stator stall current limit.

getSubsystem() - Method in class yams.mechanisms.config.SwerveDriveConfig

Get the swerve drive subsystem.

getSubsystem() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Get the subsystem controlled by the SmartMotorController

getSupplyCurrent() - Method in class yams.motorcontrollers.local.NovaWrapper

getSupplyCurrent() - Method in class yams.motorcontrollers.local.SparkWrapper

Deprecated.

getSupplyCurrent() - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

getSupplyCurrent() - Method in class yams.motorcontrollers.remote.TalonFXWrapper

getSupplyCurrent() - Method in class yams.motorcontrollers.SmartMotorController

Get the supply current of the motor controller.

getSupplyStallCurrentLimit() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Get the supply stall current limit.

getSysIdConfig(Voltage, Velocity<VoltageUnit>, Time) - Method in class yams.motorcontrollers.local.SparkWrapper

getSysIdConfig(Voltage, Velocity<VoltageUnit>, Time) - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

getSysIdConfig(Voltage, Velocity<VoltageUnit>, Time) - Method in class yams.motorcontrollers.remote.TalonFXWrapper

getSysIdConfig(Voltage, Velocity<VoltageUnit>, Time) - Method in class yams.motorcontrollers.SmartMotorController

Get the SysIdConfig which may need to have modifications based on the SmartMotorController, like TalonFX and TalonFXS to record states correctly.

getTelemetryName() - Method in class yams.mechanisms.config.ArmConfig

Network Tables name for the Arm

getTelemetryName() - Method in class yams.mechanisms.config.DifferentialMechanismConfig

Network Tables name for the Pivot

getTelemetryName() - Method in class yams.mechanisms.config.ElevatorConfig

Network Tables name for the Elevator

getTelemetryName() - Method in class yams.mechanisms.config.FlyWheelConfig

Network Tables name for the FlyWheel

getTelemetryName() - Method in class yams.mechanisms.config.PivotConfig

Network Tables name for the Pivot

getTelemetryName() - Method in class yams.mechanisms.config.SwerveModuleConfig

Get the telemetry name for the SwerveModule.

getTelemetryName() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Telemetry name.

getTelemetryNetworkTableName() - Method in class yams.mechanisms.config.ArmConfig

Deprecated.

getTelemetryNetworkTableName() - Method in class yams.mechanisms.config.FlyWheelConfig

Deprecated.

getTelemetryVerbosity() - Method in class yams.mechanisms.config.ArmConfig

Get the telemetry verbosity of the Arm

getTelemetryVerbosity() - Method in class yams.mechanisms.config.DifferentialMechanismConfig

Get the telemetry verbosity of the Pivot

getTelemetryVerbosity() - Method in class yams.mechanisms.config.ElevatorConfig

Get the telemetry verbosity of the Elevator

getTelemetryVerbosity() - Method in class yams.mechanisms.config.FlyWheelConfig

Get the telemetry verbosity of the FlyWheel

getTelemetryVerbosity() - Method in class yams.mechanisms.config.PivotConfig

Get the telemetry verbosity of the Pivot

getTelemetryVerbosity() - Method in class yams.mechanisms.config.SwerveDriveConfig

Get the telemetry verbosity for the SwerveModule.

getTelemetryVerbosity() - Method in class yams.mechanisms.config.SwerveModuleConfig

Get the telemetry verbosity for the SwerveModule.

getTemperature() - Method in class yams.motorcontrollers.local.NovaWrapper

getTemperature() - Method in class yams.motorcontrollers.local.SparkWrapper

getTemperature() - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

getTemperature() - Method in class yams.motorcontrollers.remote.TalonFXWrapper

getTemperature() - Method in class yams.motorcontrollers.SmartMotorController

Get the SmartMotorController temperature.

getTemperatureCutoff() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Get the temperature cut off for the SmartMotorController

getTiltAngle(Angle, Angle) - Method in class yams.mechanisms.config.DifferentialMechanismConfig

Get the tilt angle of the DifferentialMechanism.

getTiltAngleSupplier() - Method in class yams.mechanisms.config.DifferentialMechanismConfig

Get the angle supplier for the attached absolute encoder, if it exists.

getTiltPosition() - Method in class yams.mechanisms.positional.DifferentialMechanism

Get the tilt Angle of the mechanism.

getTiltStartingAngle() - Method in class yams.mechanisms.config.DifferentialMechanismConfig

Get the starting angle of the DifferentialMechanism tilt.

getTranslationPID() - Method in class yams.mechanisms.config.SwerveDriveConfig

Get the translation PID controller.

getTuningTable() - Method in class yams.telemetry.MechanismTelemetry

Get the tuning NetworkTable.

getTwistAngle(Angle, Angle) - Method in class yams.mechanisms.config.DifferentialMechanismConfig

Get the twist angle of the DifferentialMechanism with any additional twist gearing.

getTwistAngleSupplier() - Method in class yams.mechanisms.config.DifferentialMechanismConfig

Get the angle supplier for the attached absolute encoder, if it exists.

getTwistGearing() - Method in class yams.mechanisms.config.DifferentialMechanismConfig

The gearing for the twist in the DifferentialMechanism

getTwistPosition() - Method in class yams.mechanisms.positional.DifferentialMechanism

Get the twist Angle of the mechanism.

getTwistStartingAngle() - Method in class yams.mechanisms.config.DifferentialMechanismConfig

Get the starting angle of the DifferentialMechanism twist.

getType() - Method in class yams.motorcontrollers.simulation.SensorData

Get the sensor data type.

getType() - Method in enum class yams.motorcontrollers.simulation.SensorData.HALValueType

Get the HALValue type.

getUnsupportedTelemetryFields() - Method in class yams.motorcontrollers.local.NovaWrapper

getUnsupportedTelemetryFields() - Method in class yams.motorcontrollers.local.SparkWrapper

getUnsupportedTelemetryFields() - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

getUnsupportedTelemetryFields() - Method in class yams.motorcontrollers.remote.TalonFXWrapper

getUnsupportedTelemetryFields() - Method in class yams.motorcontrollers.SmartMotorController

Get a list of unsupported telemetry fields if any exist.

getUpdatedSim() - Method in interface yams.motorcontrollers.SimSupplier

Get the updated sim watchdog.

getUpdatedSim() - Method in class yams.motorcontrollers.simulation.ArmSimSupplier

getUpdatedSim() - Method in class yams.motorcontrollers.simulation.DCMotorSimSupplier

getUpperAngle() - Method in class yams.mechanisms.positional.DoubleJointedArm

Get the elbow angle of the DoubleJointedArm

getUpperHardLimit() - Method in class yams.mechanisms.config.ArmConfig

Get the Upper hard limit of the Arm.

getUpperHardLimit() - Method in class yams.mechanisms.config.PivotConfig

Get the Upper hard limit of the Pivot.

getUpperSoftLimit() - Method in class yams.mechanisms.config.FlyWheelConfig

Get the upper soft limit for the shooter.

getUseExternalFeedback() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Use the external feedback sensor.

getValue() - Method in class yams.motorcontrollers.simulation.SensorData

Get the sensor value, real sensor value if the robot is real.

getVelocity() - Method in class yams.mechanisms.positional.Elevator

Get the linear velocity of the Elevator.

getVerbosity() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Get Telemetry verbosity.

getVoltage() - Method in class yams.motorcontrollers.local.NovaWrapper

getVoltage() - Method in class yams.motorcontrollers.local.SparkWrapper

getVoltage() - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

getVoltage() - Method in class yams.motorcontrollers.remote.TalonFXWrapper

getVoltage() - Method in class yams.motorcontrollers.SmartMotorController

Get the voltage output of the motor.

getVoltageCompensation() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Get the voltage compensation for the SmartMotorController

getWindowXDimension(Distance) - Method in class yams.mechanisms.config.MechanismPositionConfig

Returns the x dimension of the window in the Mechanism2d for visualization, either the max robot length if set, or twice the given length.

getWindowYDimension(Distance) - Method in class yams.mechanisms.config.MechanismPositionConfig

Returns the y dimension of the window in the Mechanism2d for visualization, either the max robot height if set, or twice the given length.

getZeroOffset() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Get the zero offset for the SmartMotorController

gte(Angle) - Method in class yams.mechanisms.positional.Arm

Greater than or equal to angle.

gte(Angle) - Method in class yams.mechanisms.positional.Pivot

Greater than or equal to angle.

gte(AngularVelocity) - Method in class yams.mechanisms.velocity.FlyWheel

Greater than or equal to angular velocity.

gte(Distance) - Method in class yams.mechanisms.positional.Elevator

Greater than or equal to height.

H

Hand - Static variable in class yams.units.YUnits

101.6/1000 of a Units.Meters, or 4 Units.Inches.

Hands - Static variable in class yams.units.YUnits

101.6/1000 of a Units.Meters, or 4 Units.Inches.

HIGH - Enum constant in enum class yams.motorcontrollers.SmartMotorControllerConfig.TelemetryVerbosity

High telemetry

Hour - Static variable in class yams.units.YUnits

Alias for Hours to make combined unit definitions read more smoothly.

Hours - Static variable in class yams.units.YUnits

60 Units.Minutes.

I

InvalidStageGivenException - Exception in yams.exceptions

Exception for math errors when trying to find the sensor to mechanism ratio.

InvalidStageGivenException(String) - Constructor for exception yams.exceptions.InvalidStageGivenException

Constructs exception for failure to provide stages.

isInputFed() - Method in interface yams.motorcontrollers.SimSupplier

Check if the input was fed.

isInputFed() - Method in class yams.motorcontrollers.simulation.ArmSimSupplier

isInputFed() - Method in class yams.motorcontrollers.simulation.DCMotorSimSupplier

isMotor(DCMotor, DCMotor) - Method in class yams.motorcontrollers.SmartMotorController

Compare DCMotors to identify the given motor.

isNear(Angle, Angle) - Method in class yams.mechanisms.positional.Arm

Arm is near an angle.

isNear(Angle, Angle) - Method in class yams.mechanisms.positional.Pivot

Pivot is near an angle.

isNear(AngularVelocity, AngularVelocity) - Method in class yams.mechanisms.velocity.FlyWheel

FlyWheel is near a speed.

isNear(Distance, Distance) - Method in class yams.mechanisms.positional.Elevator

Elevator is near a height.

isUsingSpeedometerSimulation() - Method in class yams.mechanisms.config.FlyWheelConfig

Check if the shooter is using the speedometer simulation.

iterateClosedLoopController() - Method in class yams.motorcontrollers.SmartMotorController

Iterate the closed loop controller.

K

kA - Enum constant in enum class yams.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField

kA

kBoolean - Enum constant in enum class yams.motorcontrollers.simulation.SensorData.HALValueType

Boolean type HALValue.kBoolean

kD - Enum constant in enum class yams.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField

kD

kDouble - Enum constant in enum class yams.motorcontrollers.simulation.SensorData.HALValueType

Double type type HALValue.kDouble

kEnum - Enum constant in enum class yams.motorcontrollers.simulation.SensorData.HALValueType

Enum type type HALValue.kEnum

kG - Enum constant in enum class yams.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField

kG

kI - Enum constant in enum class yams.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField

kI

kInt - Enum constant in enum class yams.motorcontrollers.simulation.SensorData.HALValueType

Int type type HALValue.kInt

kLong - Enum constant in enum class yams.motorcontrollers.simulation.SensorData.HALValueType

Long type type HALValue.kLong

kP - Enum constant in enum class yams.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField

kP

kS - Enum constant in enum class yams.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField

kS

kV - Enum constant in enum class yams.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField

kV

L

League - Static variable in class yams.units.YUnits

4828.032 Units.Meterss, or 3 Miles.

Leagues - Static variable in class yams.units.YUnits

4828.032 Units.Meterss, or 3 Miles.

lockPose() - Method in class yams.mechanisms.swerve.SwerveDrive

Point all modules toward the robot center, thus making the robot very difficult to move.

LOW - Enum constant in enum class yams.motorcontrollers.SmartMotorControllerConfig.TelemetryVerbosity

Low telemetry

lte(Angle) - Method in class yams.mechanisms.positional.Arm

Less than or equal to angle

lte(Angle) - Method in class yams.mechanisms.positional.Pivot

Less than or equal to angle

lte(AngularVelocity) - Method in class yams.mechanisms.velocity.FlyWheel

Less than or equal to angular velocity

lte(Distance) - Method in class yams.mechanisms.positional.Elevator

Less than or equal to height

M

m_closedLoopControllerThread - Variable in class yams.motorcontrollers.SmartMotorController

Thread of the closed loop controller.

m_config - Variable in class yams.motorcontrollers.SmartMotorController

SmartMotorControllerConfig for the motor.

m_expoPidController - Variable in class yams.motorcontrollers.SmartMotorController

Exponential profile PID controller for the motor controller.

m_looseFollowers - Variable in class yams.motorcontrollers.SmartMotorController

Loosely coupled followers.

m_mechanismLigament - Variable in class yams.mechanisms.positional.SmartPositionalMechanism

The ligament that is being moved.

m_mechanismRoot - Variable in class yams.mechanisms.positional.SmartPositionalMechanism

The root point of the Mechanism.

m_mechanismWindow - Variable in class yams.mechanisms.SmartMechanism

Mechanism Window.

m_pidController - Variable in class yams.motorcontrollers.SmartMotorController

Profiled PID controller for the motor controller.

m_simplePidController - Variable in class yams.motorcontrollers.SmartMotorController

Simple PID controller for the motor controller.

m_simSupplier - Variable in class yams.motorcontrollers.SmartMotorController

SimSupplier for the mechanism.

m_smc - Variable in class yams.mechanisms.SmartMechanism

Motor for the subsystem.

m_subsystem - Variable in class yams.mechanisms.SmartMechanism

Subsystem for the Mechanism.

m_telemetry - Variable in class yams.mechanisms.SmartMechanism

Mechanism telemetry.

max() - Method in class yams.mechanisms.positional.Arm

max() - Method in class yams.mechanisms.positional.DifferentialMechanism

Deprecated.

max() - Method in class yams.mechanisms.positional.DoubleJointedArm

Deprecated.

max() - Method in class yams.mechanisms.positional.Elevator

max() - Method in class yams.mechanisms.positional.Pivot

max() - Method in class yams.mechanisms.positional.SmartPositionalMechanism

SmartPositionalMechanism is at max, defined by the soft limit or hard limit on the SmartPositionalMechanism.

max() - Method in class yams.mechanisms.velocity.FlyWheel

max() - Method in class yams.mechanisms.velocity.SmartVelocityMechanism

SmartVelocityMechanism is at max, defined by the soft limit or hard limit on the SmartVelocityMechanism.

maxRobotHeight - Variable in class yams.mechanisms.config.MechanismPositionConfig

The height of the robot in meters.

maxRobotLength - Variable in class yams.mechanisms.config.MechanismPositionConfig

The length of the robot in meters.

MeasurementLowerLimit - Enum constant in enum class yams.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField

Measurement lower limit.

MeasurementPosition - Enum constant in enum class yams.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField

Measurement position

MeasurementUpperLimit - Enum constant in enum class yams.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField

Measurement upper limit.

MeasurementVelocity - Enum constant in enum class yams.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField

Measurement velocity.

MechanismGearing - Class in yams.gearing

Mechanism gearing for conversions from the motor output to the mechanism output.

MechanismGearing(double) - Constructor for class yams.gearing.MechanismGearing

Construct a MechanismGearing with a reduction ratio.

MechanismGearing(double...) - Constructor for class yams.gearing.MechanismGearing

Construct a MechanismGearing with a reduction ratios.

MechanismGearing(GearBox) - Constructor for class yams.gearing.MechanismGearing

Initialize the MechanismGearing with only a GearBox attached to the mechanism motor.

MechanismGearing(GearBox, Sprocket) - Constructor for class yams.gearing.MechanismGearing

Initialize the MechanismGearing with a GearBox and Sprocket

mechanismLigament - Variable in class yams.mechanisms.velocity.SmartVelocityMechanism

The ligament that is being moved.

MechanismLowerLimit - Enum constant in enum class yams.telemetry.SmartMotorControllerTelemetry.BooleanTelemetryField

Mechanism lower limit.

MechanismLowerLimit - Enum constant in enum class yams.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField

Mechanism lower limit in rotations.

MechanismPosition - Enum constant in enum class yams.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField

Mechanism position in rotations.

MechanismPositionConfig - Class in yams.mechanisms.config

A configuration class for specifying the position and visualization properties of a mechanism relative to a robot in a 3D coordinate system.

MechanismPositionConfig() - Constructor for class yams.mechanisms.config.MechanismPositionConfig

MechanismPositionConfig.Plane - Enum Class in yams.mechanisms.config

The planes that the mechanism could be on, used for position calculations.

mechanismRoot - Variable in class yams.mechanisms.velocity.SmartVelocityMechanism

The root point of the Mechanism.

MechanismTelemetry - Class in yams.telemetry

Mechanism telemetry.

MechanismTelemetry() - Constructor for class yams.telemetry.MechanismTelemetry

MechanismUpperLimit - Enum constant in enum class yams.telemetry.SmartMotorControllerTelemetry.BooleanTelemetryField

Mechanism upper limit

MechanismUpperLimit - Enum constant in enum class yams.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField

Mechanism upper limit in rotations.

MechanismVelocity - Enum constant in enum class yams.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField

Mechanism velocity in rotations per second.

MID - Enum constant in enum class yams.motorcontrollers.SmartMotorControllerConfig.TelemetryVerbosity

Mid telemetry

Mile - Static variable in class yams.units.YUnits

1609.344 Units.Meterss, or 5280 Units.Feet.

Miles - Static variable in class yams.units.YUnits

1609.344 Units.Meterss, or 5280 Units.Feet.

MilesPerHour - Static variable in class yams.units.YUnits

1 Miles per Hour.

min() - Method in class yams.mechanisms.positional.Arm

min() - Method in class yams.mechanisms.positional.DifferentialMechanism

Deprecated.

min() - Method in class yams.mechanisms.positional.DoubleJointedArm

Deprecated.

min() - Method in class yams.mechanisms.positional.Elevator

min() - Method in class yams.mechanisms.positional.Pivot

min() - Method in class yams.mechanisms.positional.SmartPositionalMechanism

Minimum angle of the SmartPositionalMechanism given by the soft limit or hard limit of the SmartPositionalMechanism.

min() - Method in class yams.mechanisms.velocity.FlyWheel

min() - Method in class yams.mechanisms.velocity.SmartVelocityMechanism

Minimum angle of the SmartVelocityMechanism given by the soft limit or hard limit of the SmartVelocityMechanism.

MotionProfile - Enum constant in enum class yams.telemetry.SmartMotorControllerTelemetry.BooleanTelemetryField

Motion profile currently getting used.

MotionProfileMaxAcceleration - Enum constant in enum class yams.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField

Motion profile maximum accelerartion, could be in MPS^2 or RPS^2

MotionProfileMaxVelocity - Enum constant in enum class yams.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField

Motion profile maximum velocity, could be in MPS or RPS

MOTOR_INVERTED - Enum constant in enum class yams.motorcontrollers.SmartMotorControllerConfig.SmartMotorControllerOptions

Inversion state of the motor

MotorInversion - Enum constant in enum class yams.telemetry.SmartMotorControllerTelemetry.BooleanTelemetryField

Motor inversion.

MotorNotPresentException - Exception in yams.exceptions

Custom exception for when there is no motor in the mechanism.

MotorNotPresentException(String) - Constructor for exception yams.exceptions.MotorNotPresentException

Create RuntimeException for SmartMechanism

MotorTemperature - Enum constant in enum class yams.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField

Motor temperature

MPH - Static variable in class yams.units.YUnits

1 Miles per Hour.

N

networkRoot - Variable in class yams.mechanisms.config.DifferentialMechanismConfig

Deprecated.

networkRoot - Variable in class yams.mechanisms.config.ElevatorConfig

Deprecated.

networkRoot - Variable in class yams.mechanisms.config.PivotConfig

Deprecated.

networkTableName - Variable in class yams.mechanisms.config.ArmConfig

The network root of the mechanism (Optional).

networkTableName - Variable in class yams.mechanisms.config.FlyWheelConfig

The network root of the mechanism (Optional).

NoStagesGivenException - Exception in yams.exceptions

Exception for math errors when trying to find the sensor to mechanism ratio.

NoStagesGivenException() - Constructor for exception yams.exceptions.NoStagesGivenException

Constructs exception for failure to provide stages.

NovaWrapper - Class in yams.motorcontrollers.local

Nova wrapper for SmartMotorController

NovaWrapper(ThriftyNova, DCMotor, SmartMotorControllerConfig) - Constructor for class yams.motorcontrollers.local.NovaWrapper

Construct the Nova Wrapper for the generic SmartMotorController.

O

of(SwerveDrive, DoubleSupplier, DoubleSupplier) - Static method in class yams.mechanisms.swerve.utility.SwerveInputStream

Create basic SwerveInputStream without any rotation components.

OPEN_LOOP - Enum constant in enum class yams.motorcontrollers.SmartMotorControllerConfig.ControlMode

Open loop control mode.

OpenloopRampRate - Enum constant in enum class yams.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField

Open loop dutycycle ramp rate.

optimizeRobotRelativeChassisSpeeds(ChassisSpeeds) - Method in class yams.mechanisms.config.SwerveDriveConfig

Optimize the given chassis speeds.

OutputVoltage - Enum constant in enum class yams.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField

Voltage supplied to the motor.

P

parentTable - Variable in class yams.motorcontrollers.SmartMotorController

Parent table for telemetry.

Pivot - Class in yams.mechanisms.positional

Pivot mechanism.

Pivot(PivotConfig) - Constructor for class yams.mechanisms.positional.Pivot

Construct the Pivot class

PivotConfig - Class in yams.mechanisms.config

Pivot config.

PivotConfig() - Constructor for class yams.mechanisms.config.PivotConfig

Pivot Configuration class

PivotConfig(PivotConfig) - Constructor for class yams.mechanisms.config.PivotConfig

Copy constructor.

PivotConfig(SmartMotorController) - Constructor for class yams.mechanisms.config.PivotConfig

Pivot Configuration class

PivotConfigurationException - Exception in yams.exceptions

Exception for when the Pivot is configured incorrectly.

PivotConfigurationException(String, String, String) - Constructor for exception yams.exceptions.PivotConfigurationException

Pivot configuration exception.

plane - Variable in class yams.mechanisms.config.MechanismPositionConfig

The plane that the mechanism is on, used for position calculations.

publish(SmartMotorController) - Method in class yams.telemetry.SmartMotorControllerTelemetry

Publish SmartMotorController telemetry to NetworkTable

R

reset(double, double) - Method in class yams.math.ExponentialProfilePIDController

Reset the PID and profile with the given postion and velocity as the measured position and velocity.

reset(ExponentialProfile.State) - Method in class yams.math.ExponentialProfilePIDController

Reset the controller, set the next setpoint to empty.

resetAzimuthPID() - Method in class yams.mechanisms.swerve.SwerveDrive

Resets the azimuth PID controller.

resetDriveToPosePIDControllers() - Method in class yams.mechanisms.swerve.utility.SwerveInputStream

Deprecated, for removal: This API element is subject to removal in a future version.

resetOdometry(Pose2d) - Method in class yams.mechanisms.swerve.SwerveDrive

Resets odometry to the given pose.

resetTranslationPID() - Method in class yams.mechanisms.swerve.SwerveDrive

Resets the translation PID controller.

resetValidationCheck() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Reset the validation checks for all required options to be applied to SmartMotorController from SmartMotorController.applyConfig(SmartMotorControllerConfig).

robotToMechanism - Variable in class yams.mechanisms.config.MechanismPositionConfig

The translation from the robot to the mechanism (Optional)

RotationsPerMinutePerSecond - Static variable in class yams.units.YUnits

1 Units.RPM per Units.Second

RotationsPerYear - Static variable in class yams.units.YUnits

1 Units.Rotations per Year.

RotorPosition - Enum constant in enum class yams.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField

Rotor position in rotations.

RotorVelocity - Enum constant in enum class yams.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField

Rotor velocity in rotations.

RPMPerSecond - Static variable in class yams.units.YUnits

1 Units.RPM per Units.Second

RPY - Static variable in class yams.units.YUnits

1 Units.Rotations per Year.

S

SandwichPerSecond - Static variable in class yams.units.YUnits

1 FootlongSandwich per Units.Second

scaleTranslation(Translation2d, double) - Static method in class yams.mechanisms.config.SwerveDriveConfig

Scale the Translation2d Polar coordinate magnitude.

seedAzimuthEncoder() - Method in class yams.mechanisms.swerve.SwerveModule

Seed the azimuth encoder with the absolute encoder angle.

seedRelativeEncoder() - Method in class yams.motorcontrollers.local.NovaWrapper

seedRelativeEncoder() - Method in class yams.motorcontrollers.local.SparkWrapper

seedRelativeEncoder() - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

seedRelativeEncoder() - Method in class yams.motorcontrollers.remote.TalonFXWrapper

seedRelativeEncoder() - Method in class yams.motorcontrollers.SmartMotorController

Seed the relative encoder with the position from the absolute encoder.

Sensor - Class in yams.motorcontrollers.simulation

Sensor class using SimDevice; All fields will use the given supplier on real robots.

Sensor(String, List<SensorData>) - Constructor for class yams.motorcontrollers.simulation.Sensor

Sensor constructor, for a sensor that will report the real data when connected to the robot or Simulation GUI data when connected to Sim.

Sensor(SensorConfig) - Constructor for class yams.motorcontrollers.simulation.Sensor

Sensor simulation constructor.

SensorConfig - Class in yams.mechanisms.config

Sensor configuration for simulated and real sensors.

SensorConfig(String) - Constructor for class yams.mechanisms.config.SensorConfig

Sensor configuration.

SensorData - Class in yams.motorcontrollers.simulation

Sensor data class to encapsulate sensor data.

SensorData(String, BooleanSupplier, boolean) - Constructor for class yams.motorcontrollers.simulation.SensorData

Sensor data constructor.

SensorData(String, DoubleSupplier, double) - Constructor for class yams.motorcontrollers.simulation.SensorData

Sensor data constructor.

SensorData(String, IntSupplier, int) - Constructor for class yams.motorcontrollers.simulation.SensorData

Sensor data constructor.

SensorData(String, LongSupplier, long) - Constructor for class yams.motorcontrollers.simulation.SensorData

Sensor data constructor.

SensorData(String, Supplier<HALValue>, HALValue, SensorData.HALValueType) - Constructor for class yams.motorcontrollers.simulation.SensorData

Sensor data constructor.

SensorData.HALValueType - Enum Class in yams.motorcontrollers.simulation

HALValue type enum.

sensorToMechanismRatio(double...) - Static method in class yams.math.SmartMath

Create the sensor to mechanism ratio.

set(boolean) - Method in class yams.motorcontrollers.simulation.SensorData

Set the sensor value.

set(boolean) - Method in class yams.telemetry.BooleanTelemetry

Set the value of the publisher, checking to see if the value is the same as the subscriber.

set(double) - Method in class yams.mechanisms.positional.DifferentialMechanism

Deprecated.

set(double) - Method in class yams.mechanisms.positional.DoubleJointedArm

Deprecated.

set(double) - Method in class yams.mechanisms.SmartMechanism

Set the DutyCycle of the SmartMotorController.

set(double) - Method in class yams.motorcontrollers.simulation.SensorData

Set the sensor value.

set(double) - Method in class yams.telemetry.DoubleTelemetry

Set the value of the publisher, checking to see if the value is the same as the subscriber.

set(double, double) - Method in class yams.mechanisms.positional.DifferentialMechanism

Set the dutycycle of the differential mechanism.

set(int) - Method in class yams.motorcontrollers.simulation.SensorData

Set the sensor value.

set(long) - Method in class yams.motorcontrollers.simulation.SensorData

Set the sensor value.

set(HALValue) - Method in class yams.motorcontrollers.simulation.SensorData

Set the sensor value.

set(Double, Double) - Method in class yams.mechanisms.positional.DoubleJointedArm

Simple duty cycle command.

set(Supplier<Double>) - Method in class yams.mechanisms.positional.DifferentialMechanism

Deprecated.

set(Supplier<Double>) - Method in class yams.mechanisms.positional.DoubleJointedArm

Deprecated.

set(Supplier<Double>) - Method in class yams.mechanisms.SmartMechanism

Set the DutyCycle of the SmartMotorController.

setAngle(Angle) - Method in class yams.mechanisms.positional.Arm

Set the arm to the given angle.

setAngle(Angle) - Method in class yams.mechanisms.positional.Pivot

Set the pivot to the given angle.

setAngle(Angle, Angle) - Method in class yams.mechanisms.positional.DoubleJointedArm

Set the shoulder and elbow angle of the DoubleJointedArm.

setAngle(Supplier<Angle>) - Method in class yams.mechanisms.positional.Arm

Set the arm to the given angle via a supplier.

setAngle(Supplier<Angle>) - Method in class yams.mechanisms.positional.Pivot

Set the pivot to the given angle.

setClosedLoopRampRate(Time) - Method in class yams.motorcontrollers.local.NovaWrapper

setClosedLoopRampRate(Time) - Method in class yams.motorcontrollers.local.SparkWrapper

setClosedLoopRampRate(Time) - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

setClosedLoopRampRate(Time) - Method in class yams.motorcontrollers.remote.TalonFXWrapper

setClosedLoopRampRate(Time) - Method in class yams.motorcontrollers.SmartMotorController

Set the closed loop ramp rate.

setConstraints(ExponentialProfile.Constraints) - Method in class yams.math.ExponentialProfilePIDController

Sets the constraints for the ExponentialProfile.

setD(double) - Method in class yams.math.ExponentialProfilePIDController

Sets the Differential coefficient of the PID controller gain.

setDefaultValue(boolean) - Method in class yams.telemetry.BooleanTelemetry

Set the default value.

setDefaultValue(double) - Method in class yams.telemetry.DoubleTelemetry

Set default values.

setDutyCycle(double) - Method in class yams.motorcontrollers.local.NovaWrapper

setDutyCycle(double) - Method in class yams.motorcontrollers.local.SparkWrapper

setDutyCycle(double) - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

setDutyCycle(double) - Method in class yams.motorcontrollers.remote.TalonFXWrapper

setDutyCycle(double) - Method in class yams.motorcontrollers.SmartMotorController

Set the dutycycle output of the motor controller.

setEncoderInverted(boolean) - Method in class yams.motorcontrollers.local.NovaWrapper

setEncoderInverted(boolean) - Method in class yams.motorcontrollers.local.SparkWrapper

setEncoderInverted(boolean) - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

setEncoderInverted(boolean) - Method in class yams.motorcontrollers.remote.TalonFXWrapper

setEncoderInverted(boolean) - Method in class yams.motorcontrollers.SmartMotorController

Set the phase of the encoder attached to the brushless motor.

setEncoderPosition(Angle) - Method in class yams.motorcontrollers.local.NovaWrapper

setEncoderPosition(Angle) - Method in class yams.motorcontrollers.local.SparkWrapper

setEncoderPosition(Angle) - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

setEncoderPosition(Angle) - Method in class yams.motorcontrollers.remote.TalonFXWrapper

setEncoderPosition(Angle) - Method in class yams.motorcontrollers.SmartMotorController

Set the encoder position

setEncoderPosition(Distance) - Method in class yams.motorcontrollers.local.NovaWrapper

setEncoderPosition(Distance) - Method in class yams.motorcontrollers.local.SparkWrapper

setEncoderPosition(Distance) - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

setEncoderPosition(Distance) - Method in class yams.motorcontrollers.remote.TalonFXWrapper

setEncoderPosition(Distance) - Method in class yams.motorcontrollers.SmartMotorController

Set the encoder position.

setEncoderVelocity(AngularVelocity) - Method in class yams.motorcontrollers.local.NovaWrapper

setEncoderVelocity(AngularVelocity) - Method in class yams.motorcontrollers.local.SparkWrapper

setEncoderVelocity(AngularVelocity) - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

Deprecated.

setEncoderVelocity(AngularVelocity) - Method in class yams.motorcontrollers.remote.TalonFXWrapper

Deprecated.

setEncoderVelocity(AngularVelocity) - Method in class yams.motorcontrollers.SmartMotorController

Set the encoder velocity

setEncoderVelocity(LinearVelocity) - Method in class yams.motorcontrollers.local.NovaWrapper

setEncoderVelocity(LinearVelocity) - Method in class yams.motorcontrollers.local.SparkWrapper

setEncoderVelocity(LinearVelocity) - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

setEncoderVelocity(LinearVelocity) - Method in class yams.motorcontrollers.remote.TalonFXWrapper

setEncoderVelocity(LinearVelocity) - Method in class yams.motorcontrollers.SmartMotorController

Set the encoder velocity.

setFeedback(double, double, double) - Method in class yams.motorcontrollers.local.NovaWrapper

setFeedback(double, double, double) - Method in class yams.motorcontrollers.local.SparkWrapper

setFeedback(double, double, double) - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

setFeedback(double, double, double) - Method in class yams.motorcontrollers.remote.TalonFXWrapper

setFeedback(double, double, double) - Method in class yams.motorcontrollers.SmartMotorController

Set the closed loop feedback controller PID.

setFeedforward(double, double, double, double) - Method in class yams.motorcontrollers.local.NovaWrapper

setFeedforward(double, double, double, double) - Method in class yams.motorcontrollers.local.SparkWrapper

setFeedforward(double, double, double, double) - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

setFeedforward(double, double, double, double) - Method in class yams.motorcontrollers.remote.TalonFXWrapper

setFeedforward(double, double, double, double) - Method in class yams.motorcontrollers.SmartMotorController

Set the feedforward controller.

setFieldRelativeChassisSpeeds(ChassisSpeeds) - Method in class yams.mechanisms.swerve.SwerveDrive

Set field relative chassis speeds.

setHeight(Distance) - Method in class yams.mechanisms.positional.Elevator

Set the height of the elevator.

setHeight(Supplier<Distance>) - Method in class yams.mechanisms.positional.Elevator

Set the height of the elevator.

setI(double) - Method in class yams.math.ExponentialProfilePIDController

Sets the Integral coefficient of the PID controller gain.

setIdleMode(SmartMotorControllerConfig.MotorMode) - Method in class yams.motorcontrollers.local.NovaWrapper

setIdleMode(SmartMotorControllerConfig.MotorMode) - Method in class yams.motorcontrollers.local.SparkWrapper

setIdleMode(SmartMotorControllerConfig.MotorMode) - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

setIdleMode(SmartMotorControllerConfig.MotorMode) - Method in class yams.motorcontrollers.remote.TalonFXWrapper

setIdleMode(SmartMotorControllerConfig.MotorMode) - Method in class yams.motorcontrollers.SmartMotorController

Set the motor idle mode from COAST or BRAKE.

setKa(double) - Method in class yams.motorcontrollers.local.NovaWrapper

setKa(double) - Method in class yams.motorcontrollers.local.SparkWrapper

setKa(double) - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

setKa(double) - Method in class yams.motorcontrollers.remote.TalonFXWrapper

setKa(double) - Method in class yams.motorcontrollers.SmartMotorController

Acceleration feedforward element.

setKd(double) - Method in class yams.motorcontrollers.local.NovaWrapper

setKd(double) - Method in class yams.motorcontrollers.local.SparkWrapper

setKd(double) - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

setKd(double) - Method in class yams.motorcontrollers.remote.TalonFXWrapper

setKd(double) - Method in class yams.motorcontrollers.SmartMotorController

Set kD for the feedback controller PID.

setKg(double) - Method in class yams.motorcontrollers.local.NovaWrapper

setKg(double) - Method in class yams.motorcontrollers.local.SparkWrapper

setKg(double) - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

setKg(double) - Method in class yams.motorcontrollers.remote.TalonFXWrapper

setKg(double) - Method in class yams.motorcontrollers.SmartMotorController

kSin feedforward element.

setKi(double) - Method in class yams.motorcontrollers.local.NovaWrapper

setKi(double) - Method in class yams.motorcontrollers.local.SparkWrapper

setKi(double) - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

setKi(double) - Method in class yams.motorcontrollers.remote.TalonFXWrapper

setKi(double) - Method in class yams.motorcontrollers.SmartMotorController

Set kI for the feedback controller PID.

setKp(double) - Method in class yams.motorcontrollers.local.NovaWrapper

setKp(double) - Method in class yams.motorcontrollers.local.SparkWrapper

setKp(double) - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

setKp(double) - Method in class yams.motorcontrollers.remote.TalonFXWrapper

setKp(double) - Method in class yams.motorcontrollers.SmartMotorController

Set kP for the feedback controller PID.

setKs(double) - Method in class yams.motorcontrollers.local.NovaWrapper

setKs(double) - Method in class yams.motorcontrollers.local.SparkWrapper

setKs(double) - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

setKs(double) - Method in class yams.motorcontrollers.remote.TalonFXWrapper

setKs(double) - Method in class yams.motorcontrollers.SmartMotorController

Static feedforward element.

setKv(double) - Method in class yams.motorcontrollers.local.NovaWrapper

setKv(double) - Method in class yams.motorcontrollers.local.SparkWrapper

setKv(double) - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

setKv(double) - Method in class yams.motorcontrollers.remote.TalonFXWrapper

setKv(double) - Method in class yams.motorcontrollers.SmartMotorController

Velocity feedforward element.

setMeasurementLowerLimit(Distance) - Method in class yams.motorcontrollers.local.NovaWrapper

setMeasurementLowerLimit(Distance) - Method in class yams.motorcontrollers.local.SparkWrapper

setMeasurementLowerLimit(Distance) - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

setMeasurementLowerLimit(Distance) - Method in class yams.motorcontrollers.remote.TalonFXWrapper

setMeasurementLowerLimit(Distance) - Method in class yams.motorcontrollers.SmartMotorController

Set the measurement lower limit, only works if mechanism circumference is defined.

setMeasurementUpperLimit(Distance) - Method in class yams.motorcontrollers.local.NovaWrapper

setMeasurementUpperLimit(Distance) - Method in class yams.motorcontrollers.local.SparkWrapper

setMeasurementUpperLimit(Distance) - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

setMeasurementUpperLimit(Distance) - Method in class yams.motorcontrollers.remote.TalonFXWrapper

setMeasurementUpperLimit(Distance) - Method in class yams.motorcontrollers.SmartMotorController

Set the measurement upper limit, only works if mechanism circumference is defined.

setMechanismLowerLimit(Angle) - Method in class yams.motorcontrollers.local.NovaWrapper

setMechanismLowerLimit(Angle) - Method in class yams.motorcontrollers.local.SparkWrapper

setMechanismLowerLimit(Angle) - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

setMechanismLowerLimit(Angle) - Method in class yams.motorcontrollers.remote.TalonFXWrapper

setMechanismLowerLimit(Angle) - Method in class yams.motorcontrollers.SmartMotorController

Set the mechanism lower limit.

setMechanismPosition(Angle) - Method in interface yams.motorcontrollers.SimSupplier

Set the Mechanism position

setMechanismPosition(Angle) - Method in class yams.motorcontrollers.simulation.ArmSimSupplier

setMechanismPosition(Angle) - Method in class yams.motorcontrollers.simulation.DCMotorSimSupplier

setMechanismStatorDutyCycle(double) - Method in interface yams.motorcontrollers.SimSupplier

Set the dutycyle of the mechanism stator.

setMechanismStatorDutyCycle(double) - Method in class yams.motorcontrollers.simulation.ArmSimSupplier

setMechanismStatorDutyCycle(double) - Method in class yams.motorcontrollers.simulation.DCMotorSimSupplier

setMechanismStatorVoltage(Voltage) - Method in interface yams.motorcontrollers.SimSupplier

Set mechanism voltage, mostly used for SysId testing.

setMechanismStatorVoltage(Voltage) - Method in class yams.motorcontrollers.simulation.ArmSimSupplier

setMechanismStatorVoltage(Voltage) - Method in class yams.motorcontrollers.simulation.DCMotorSimSupplier

setMechanismUpperLimit(Angle) - Method in class yams.motorcontrollers.local.NovaWrapper

setMechanismUpperLimit(Angle) - Method in class yams.motorcontrollers.local.SparkWrapper

setMechanismUpperLimit(Angle) - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

setMechanismUpperLimit(Angle) - Method in class yams.motorcontrollers.remote.TalonFXWrapper

setMechanismUpperLimit(Angle) - Method in class yams.motorcontrollers.SmartMotorController

Set the mechanism upper limit.

setMechanismVelocity(AngularVelocity) - Method in interface yams.motorcontrollers.SimSupplier

Set the Mechanism velocity.

setMechanismVelocity(AngularVelocity) - Method in class yams.motorcontrollers.simulation.ArmSimSupplier

setMechanismVelocity(AngularVelocity) - Method in class yams.motorcontrollers.simulation.DCMotorSimSupplier

setMotionProfileMaxAcceleration(AngularAcceleration) - Method in class yams.motorcontrollers.local.NovaWrapper

setMotionProfileMaxAcceleration(AngularAcceleration) - Method in class yams.motorcontrollers.local.SparkWrapper

setMotionProfileMaxAcceleration(AngularAcceleration) - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

setMotionProfileMaxAcceleration(AngularAcceleration) - Method in class yams.motorcontrollers.remote.TalonFXWrapper

setMotionProfileMaxAcceleration(AngularAcceleration) - Method in class yams.motorcontrollers.SmartMotorController

Set the maximum acceleration for the trapezoidal profile for the feedback controller.

setMotionProfileMaxAcceleration(LinearAcceleration) - Method in class yams.motorcontrollers.local.NovaWrapper

setMotionProfileMaxAcceleration(LinearAcceleration) - Method in class yams.motorcontrollers.local.SparkWrapper

setMotionProfileMaxAcceleration(LinearAcceleration) - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

setMotionProfileMaxAcceleration(LinearAcceleration) - Method in class yams.motorcontrollers.remote.TalonFXWrapper

setMotionProfileMaxAcceleration(LinearAcceleration) - Method in class yams.motorcontrollers.SmartMotorController

Set the maximum acceleration of the trapezoidal profile for the feedback controller.

setMotionProfileMaxVelocity(AngularVelocity) - Method in class yams.motorcontrollers.local.NovaWrapper

setMotionProfileMaxVelocity(AngularVelocity) - Method in class yams.motorcontrollers.local.SparkWrapper

setMotionProfileMaxVelocity(AngularVelocity) - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

setMotionProfileMaxVelocity(AngularVelocity) - Method in class yams.motorcontrollers.remote.TalonFXWrapper

setMotionProfileMaxVelocity(AngularVelocity) - Method in class yams.motorcontrollers.SmartMotorController

Set the maximum velocity for the trapezoidal profile for the feedback controller.

setMotionProfileMaxVelocity(LinearVelocity) - Method in class yams.motorcontrollers.local.NovaWrapper

setMotionProfileMaxVelocity(LinearVelocity) - Method in class yams.motorcontrollers.local.SparkWrapper

setMotionProfileMaxVelocity(LinearVelocity) - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

setMotionProfileMaxVelocity(LinearVelocity) - Method in class yams.motorcontrollers.remote.TalonFXWrapper

setMotionProfileMaxVelocity(LinearVelocity) - Method in class yams.motorcontrollers.SmartMotorController

Set the maximum velocity of the trapezoidal profile for the feedback controller.

setMotorInverted(boolean) - Method in class yams.motorcontrollers.local.NovaWrapper

setMotorInverted(boolean) - Method in class yams.motorcontrollers.local.SparkWrapper

setMotorInverted(boolean) - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

setMotorInverted(boolean) - Method in class yams.motorcontrollers.remote.TalonFXWrapper

setMotorInverted(boolean) - Method in class yams.motorcontrollers.SmartMotorController

Set the inversion state of the motor.

setOpenLoopRampRate(Time) - Method in class yams.motorcontrollers.local.NovaWrapper

Deprecated.

setOpenLoopRampRate(Time) - Method in class yams.motorcontrollers.local.SparkWrapper

setOpenLoopRampRate(Time) - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

setOpenLoopRampRate(Time) - Method in class yams.motorcontrollers.remote.TalonFXWrapper

setOpenLoopRampRate(Time) - Method in class yams.motorcontrollers.SmartMotorController

Set the open loop ramp rate.

setP(double) - Method in class yams.math.ExponentialProfilePIDController

Sets the Proportional coefficient of the PID controller gain.

setpointPosition - Variable in class yams.motorcontrollers.SmartMotorController

Setpoint position

SetpointPosition - Enum constant in enum class yams.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField

Setpoint position

setpointVelocity - Variable in class yams.motorcontrollers.SmartMotorController

Setpoint velocity.

SetpointVelocity - Enum constant in enum class yams.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField

Setpoint velocity

setPosition(Translation2d, boolean) - Method in class yams.mechanisms.positional.DoubleJointedArm

Set the position of the DoubleJointedArm to be at pose in meters.

setPosition(Angle) - Method in class yams.motorcontrollers.local.NovaWrapper

setPosition(Angle) - Method in class yams.motorcontrollers.local.SparkWrapper

setPosition(Angle) - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

setPosition(Angle) - Method in class yams.motorcontrollers.remote.TalonFXWrapper

setPosition(Angle) - Method in class yams.motorcontrollers.SmartMotorController

Set the Mechanism Angle using the PID and feedforward from SmartMotorControllerConfig.

setPosition(Angle, Angle) - Method in class yams.mechanisms.positional.DifferentialMechanism

Set the position of the differential mechanism.

setPosition(Distance) - Method in class yams.motorcontrollers.local.NovaWrapper

setPosition(Distance) - Method in class yams.motorcontrollers.local.SparkWrapper

setPosition(Distance) - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

setPosition(Distance) - Method in class yams.motorcontrollers.remote.TalonFXWrapper

setPosition(Distance) - Method in class yams.motorcontrollers.SmartMotorController

Set the Mechanism Distance using the PID and feedforward from SmartMotorControllerConfig.

setPosition(Supplier<Angle>, Supplier<Angle>) - Method in class yams.mechanisms.positional.DifferentialMechanism

Set the position of the differential mechanism using suppliers.

setRobotRelativeChassisSpeeds(ChassisSpeeds) - Method in class yams.mechanisms.swerve.SwerveDrive

Set robot relative chassis speeds.

setSimSupplier(SimSupplier) - Method in class yams.motorcontrollers.SmartMotorController

Set the SimSupplier Mechanism.

setSpeed(AngularVelocity) - Method in class yams.mechanisms.velocity.FlyWheel

Set the FlyWheel to the given speed.

setSpeed(Supplier<AngularVelocity>) - Method in class yams.mechanisms.velocity.FlyWheel

Set the FlyWheel to the given speed.

setStatorCurrentLimit(Current) - Method in class yams.motorcontrollers.local.NovaWrapper

setStatorCurrentLimit(Current) - Method in class yams.motorcontrollers.local.SparkWrapper

setStatorCurrentLimit(Current) - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

setStatorCurrentLimit(Current) - Method in class yams.motorcontrollers.remote.TalonFXWrapper

setStatorCurrentLimit(Current) - Method in class yams.motorcontrollers.SmartMotorController

Set the stator current limit for the device.

setSupplyCurrentLimit(Current) - Method in class yams.motorcontrollers.local.NovaWrapper

setSupplyCurrentLimit(Current) - Method in class yams.motorcontrollers.local.SparkWrapper

Deprecated.

setSupplyCurrentLimit(Current) - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

Deprecated.

setSupplyCurrentLimit(Current) - Method in class yams.motorcontrollers.remote.TalonFXWrapper

Deprecated.

setSupplyCurrentLimit(Current) - Method in class yams.motorcontrollers.SmartMotorController

Set the supply current limit.

setSwerveModuleState(SwerveModuleState) - Method in class yams.mechanisms.swerve.SwerveModule

Set the SwerveModuleState of the module.

setSwerveModuleStates(SwerveModuleState[]) - Method in class yams.mechanisms.swerve.SwerveDrive

Set the SwerveModuleStates of the swerve drive directly.

setTolerance(double) - Method in class yams.math.ExponentialProfilePIDController

Sets the error which is considered tolerable for use with atSetpoint().

setupLoopTime() - Method in class yams.telemetry.MechanismTelemetry

Setup loop time publisher.

setupNetworkTable(NetworkTable) - Method in class yams.telemetry.BooleanTelemetry

Setup network tables.

setupNetworkTable(NetworkTable) - Method in class yams.telemetry.DoubleTelemetry

Setup network tables.

setupNetworkTables(NetworkTable, NetworkTable) - Method in class yams.telemetry.BooleanTelemetry

Setup network tables.

setupNetworkTables(NetworkTable, NetworkTable) - Method in class yams.telemetry.DoubleTelemetry

Setup network tables.

setupSimulation() - Method in class yams.motorcontrollers.local.NovaWrapper

setupSimulation() - Method in class yams.motorcontrollers.local.SparkWrapper

setupSimulation() - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

setupSimulation() - Method in class yams.motorcontrollers.remote.TalonFXWrapper

setupSimulation() - Method in class yams.motorcontrollers.SmartMotorController

Setup the simulation for the wrapper.

setupTelemetry() - Method in class yams.motorcontrollers.SmartMotorController

Setup Telemetry with default NT path

setupTelemetry(NetworkTable, NetworkTable) - Method in class yams.motorcontrollers.SmartMotorController

Update the telemetry under the motor name under the given NetworkTable

setupTelemetry(String) - Method in class yams.telemetry.MechanismTelemetry

Setup telemetry for the Mechanism and motor controller.

setupTelemetry(String, SmartMotorController) - Method in class yams.telemetry.MechanismTelemetry

Setup telemetry for the Mechanism and motor controller.

setupTelemetry(SmartMotorController, NetworkTable, NetworkTable, SmartMotorControllerTelemetryConfig) - Method in class yams.telemetry.SmartMotorControllerTelemetry

Setup Telemetry Pub/Sub fields.

setVelocity(AngularVelocity) - Method in class yams.motorcontrollers.local.NovaWrapper

setVelocity(AngularVelocity) - Method in class yams.motorcontrollers.local.SparkWrapper

setVelocity(AngularVelocity) - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

setVelocity(AngularVelocity) - Method in class yams.motorcontrollers.remote.TalonFXWrapper

setVelocity(AngularVelocity) - Method in class yams.motorcontrollers.SmartMotorController

Set the Mechanism AngularVelocity using the PID and feedforward from SmartMotorControllerConfig.

setVelocity(LinearVelocity) - Method in class yams.motorcontrollers.local.NovaWrapper

setVelocity(LinearVelocity) - Method in class yams.motorcontrollers.local.SparkWrapper

setVelocity(LinearVelocity) - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

setVelocity(LinearVelocity) - Method in class yams.motorcontrollers.remote.TalonFXWrapper

setVelocity(LinearVelocity) - Method in class yams.motorcontrollers.SmartMotorController

Set the Mechanism LinearVelocity using the PID and feedforward from SmartMotorControllerConfig.

setVisionMeasurementStdDevs(Matrix<N3, N1>) - Method in class yams.mechanisms.swerve.SwerveDrive

Sets the pose estimator's trust of global measurements.

setVoltage(Voltage) - Method in class yams.mechanisms.positional.DifferentialMechanism

Deprecated.

setVoltage(Voltage) - Method in class yams.mechanisms.positional.DoubleJointedArm

Deprecated.

setVoltage(Voltage) - Method in class yams.mechanisms.SmartMechanism

Set the voltage of the SmartMotorController.

setVoltage(Voltage) - Method in class yams.motorcontrollers.local.NovaWrapper

setVoltage(Voltage) - Method in class yams.motorcontrollers.local.SparkWrapper

setVoltage(Voltage) - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

setVoltage(Voltage) - Method in class yams.motorcontrollers.remote.TalonFXWrapper

setVoltage(Voltage) - Method in class yams.motorcontrollers.SmartMotorController

Set the voltage output of the motor controller.

setVoltage(Supplier<Voltage>) - Method in class yams.mechanisms.positional.DifferentialMechanism

Deprecated.

setVoltage(Supplier<Voltage>) - Method in class yams.mechanisms.positional.DoubleJointedArm

Deprecated.

setVoltage(Supplier<Voltage>) - Method in class yams.mechanisms.SmartMechanism

Set the voltage of the SmartMotorController.

simIterate() - Method in class yams.mechanisms.positional.Arm

simIterate() - Method in class yams.mechanisms.positional.DifferentialMechanism

simIterate() - Method in class yams.mechanisms.positional.DoubleJointedArm

simIterate() - Method in class yams.mechanisms.positional.Elevator

simIterate() - Method in class yams.mechanisms.positional.Pivot

simIterate() - Method in class yams.mechanisms.SmartMechanism

Iterate sim

simIterate() - Method in class yams.mechanisms.swerve.SwerveDrive

Simulate the drive, updating the gyroscope based off of module states.

simIterate() - Method in class yams.mechanisms.swerve.SwerveModule

Update the simulation of the module.

simIterate() - Method in class yams.mechanisms.velocity.FlyWheel

simIterate() - Method in class yams.motorcontrollers.local.NovaWrapper

simIterate() - Method in class yams.motorcontrollers.local.SparkWrapper

simIterate() - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

simIterate() - Method in class yams.motorcontrollers.remote.TalonFXWrapper

simIterate() - Method in class yams.motorcontrollers.SmartMotorController

Simulation iteration.

SimpleMotorFeedForward - Enum constant in enum class yams.telemetry.SmartMotorControllerTelemetry.BooleanTelemetryField

Simple motor feedforward currently getting used.

SimSupplier - Interface in yams.motorcontrollers

Provides sim functions for

SmartMath - Class in yams.math

SmartMath class to handle math operations.

SmartMath() - Constructor for class yams.math.SmartMath

SmartMechanism - Class in yams.mechanisms

Generic implementation of a mechanism with advanced telemetry.

SmartMechanism() - Constructor for class yams.mechanisms.SmartMechanism

SmartMotorController - Class in yams.motorcontrollers

Smart motor controller wrapper for motor controllers.

SmartMotorController() - Constructor for class yams.motorcontrollers.SmartMotorController

SmartMotorControllerCommandRegistry - Class in yams.motorcontrollers

Registry for SmartMotorController commands.

SmartMotorControllerCommandRegistry() - Constructor for class yams.motorcontrollers.SmartMotorControllerCommandRegistry

SmartMotorControllerConfig - Class in yams.motorcontrollers

Smart motor controller config.

SmartMotorControllerConfig() - Constructor for class yams.motorcontrollers.SmartMotorControllerConfig

Construct the SmartMotorControllerConfig with a Subsystem added later.

SmartMotorControllerConfig(Subsystem) - Constructor for class yams.motorcontrollers.SmartMotorControllerConfig

Construct the SmartMotorControllerConfig for the Subsystem

SmartMotorControllerConfig.ControlMode - Enum Class in yams.motorcontrollers

Control mode for a motor controller.

SmartMotorControllerConfig.MotorMode - Enum Class in yams.motorcontrollers

Idle mode for the SmartMotorController

SmartMotorControllerConfig.SmartMotorControllerOptions - Enum Class in yams.motorcontrollers

All possible options that must be checked and applied during motor config application.

SmartMotorControllerConfig.TelemetryVerbosity - Enum Class in yams.motorcontrollers

Telemetry verbosity for the SmartMotorController

SmartMotorControllerConfigurationException - Exception in yams.exceptions

Exception for when the SmartMotorController is configured incorrectly.

SmartMotorControllerConfigurationException(String, String, String) - Constructor for exception yams.exceptions.SmartMotorControllerConfigurationException

SmartMotorControllerConfigurationException constructor.

SmartMotorControllerTelemetry - Class in yams.telemetry

Smart motor controller telemetry.

SmartMotorControllerTelemetry() - Constructor for class yams.telemetry.SmartMotorControllerTelemetry

SmartMotorControllerTelemetry.BooleanTelemetryField - Enum Class in yams.telemetry

Boolean telemetry for SmartMotorControllers

SmartMotorControllerTelemetry.DoubleTelemetryField - Enum Class in yams.telemetry

Double telemetry field.

SmartMotorControllerTelemetryConfig - Class in yams.telemetry

Smart motor controller telemetry configuration.

SmartMotorControllerTelemetryConfig() - Constructor for class yams.telemetry.SmartMotorControllerTelemetryConfig

SmartMotorFactory - Class in yams.motorcontrollers

Factory for creating SmartMotorController instances.

SmartMotorFactory() - Constructor for class yams.motorcontrollers.SmartMotorFactory

SmartMotorFactory.MotorControllerConstructor - Interface in yams.motorcontrollers

SmartPositionalMechanism - Class in yams.mechanisms.positional

Generic for positional mechanisms.

SmartPositionalMechanism() - Constructor for class yams.mechanisms.positional.SmartPositionalMechanism

SmartVelocityMechanism - Class in yams.mechanisms.velocity

Generic for positional mechanisms.

SmartVelocityMechanism() - Constructor for class yams.mechanisms.velocity.SmartVelocityMechanism

SparkWrapper - Class in yams.motorcontrollers.local

Spark wrapper for REV Spark Motor controllers.

SparkWrapper(SparkBase, DCMotor, SmartMotorControllerConfig) - Constructor for class yams.motorcontrollers.local.SparkWrapper

Create a SmartMotorController from SparkMax or SparkFlex

sprocket(double...) - Static method in class yams.mechanisms.SmartMechanism

Deprecated, for removal: This API element is subject to removal in a future version.

Use Sprocket.fromStages(String...) instead.

sprocket(String...) - Static method in class yams.mechanisms.SmartMechanism

Deprecated, for removal: This API element is subject to removal in a future version.

Use Sprocket.fromStages(String...) instead.

Sprocket - Class in yams.gearing

Sprocket class to handle calculating the conversion factor of a sprocket in your mechanism.

Sprocket(double[]) - Constructor for class yams.gearing.Sprocket

Create the sprocket given the teeth of each sprocket in the chain.

Sprocket(String[]) - Constructor for class yams.gearing.Sprocket

Construct the Sprocket with the reduction stages given.

startClosedLoopController() - Method in class yams.motorcontrollers.SmartMotorController

Start the closed loop controller with the period.

starveInput() - Method in interface yams.motorcontrollers.SimSupplier

Starve the input.

starveInput() - Method in class yams.motorcontrollers.simulation.ArmSimSupplier

starveInput() - Method in class yams.motorcontrollers.simulation.DCMotorSimSupplier

starveUpdateSim() - Method in interface yams.motorcontrollers.SimSupplier

Starve the update sim watch.

starveUpdateSim() - Method in class yams.motorcontrollers.simulation.ArmSimSupplier

starveUpdateSim() - Method in class yams.motorcontrollers.simulation.DCMotorSimSupplier

STATOR_CURRENT_LIMIT - Enum constant in enum class yams.motorcontrollers.SmartMotorControllerConfig.SmartMotorControllerOptions

Stator current limit.

StatorCurrent - Enum constant in enum class yams.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField

Stator current.

StatorCurrentLimit - Enum constant in enum class yams.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField

Supply current limit.

stopClosedLoopController() - Method in class yams.motorcontrollers.SmartMotorController

Stop the closed loop controller.

SUPPLY_CURRENT_LIMIT - Enum constant in enum class yams.motorcontrollers.SmartMotorControllerConfig.SmartMotorControllerOptions

Supply current limit

SupplyCurrent - Enum constant in enum class yams.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField

Supply current.

SupplyCurrentLimit - Enum constant in enum class yams.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField

Supply current limit.

SwerveDrive - Class in yams.mechanisms.swerve

Swerve Drive mechanism

SwerveDrive(SwerveDriveConfig) - Constructor for class yams.mechanisms.swerve.SwerveDrive

Create a SwerveDrive.

SwerveDriveConfig - Class in yams.mechanisms.config

Swerve Drive Configuration

SwerveDriveConfig() - Constructor for class yams.mechanisms.config.SwerveDriveConfig

Create the SwerveDriveConfig for the SwerveDrive

SwerveDriveConfig(Subsystem, SwerveModule...) - Constructor for class yams.mechanisms.config.SwerveDriveConfig

Create the SwerveDriveConfig for the SwerveDrive

SwerveDriveConfigurationException - Exception in yams.exceptions

SwerveDrive Config Exception

SwerveDriveConfigurationException(String, String, String) - Constructor for exception yams.exceptions.SwerveDriveConfigurationException

SwerveDrive configuration exception.

SwerveInputStream - Class in yams.mechanisms.swerve.utility

Helper class to easily transform Controller inputs into workable Chassis speeds.

SwerveInputStream(SwerveDrive, DoubleSupplier, DoubleSupplier, DoubleSupplier) - Constructor for class yams.mechanisms.swerve.utility.SwerveInputStream

Create a SwerveInputStream for an easy way to generate ChassisSpeeds from a driver controller.

SwerveInputStream(SwerveDrive, DoubleSupplier, DoubleSupplier, DoubleSupplier, DoubleSupplier) - Constructor for class yams.mechanisms.swerve.utility.SwerveInputStream

Create a SwerveInputStream for an easy way to generate ChassisSpeeds from a driver controller.

SwerveModule - Class in yams.mechanisms.swerve

Swerve Module

SwerveModule(SwerveModuleConfig) - Constructor for class yams.mechanisms.swerve.SwerveModule

Create a SwerveModule.

SwerveModuleConfig - Class in yams.mechanisms.config

Swerve Module

SwerveModuleConfig() - Constructor for class yams.mechanisms.config.SwerveModuleConfig

Create the SwerveModuleConfig for the SwerveModule

SwerveModuleConfig(SmartMotorController, SmartMotorController) - Constructor for class yams.mechanisms.config.SwerveModuleConfig

Create the SwerveModuleConfig for the SwerveModule

synchronizeRelativeEncoder() - Method in class yams.motorcontrollers.local.NovaWrapper

synchronizeRelativeEncoder() - Method in class yams.motorcontrollers.local.SparkWrapper

synchronizeRelativeEncoder() - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

Deprecated.

synchronizeRelativeEncoder() - Method in class yams.motorcontrollers.remote.TalonFXWrapper

Deprecated.

synchronizeRelativeEncoder() - Method in class yams.motorcontrollers.SmartMotorController

Check if the relative encoder is out of sync with absolute encoder within defined tolerances.

sysId(Voltage, Velocity<VoltageUnit>, Time) - Method in class yams.mechanisms.positional.Arm

sysId(Voltage, Velocity<VoltageUnit>, Time) - Method in class yams.mechanisms.positional.DifferentialMechanism

Deprecated.

sysId(Voltage, Velocity<VoltageUnit>, Time) - Method in class yams.mechanisms.positional.DoubleJointedArm

Deprecated.

sysId(Voltage, Velocity<VoltageUnit>, Time) - Method in class yams.mechanisms.positional.Elevator

sysId(Voltage, Velocity<VoltageUnit>, Time) - Method in class yams.mechanisms.positional.Pivot

sysId(Voltage, Velocity<VoltageUnit>, Time) - Method in class yams.mechanisms.positional.SmartPositionalMechanism

Create the SysId routine and commands to run the SysId tests.

sysId(Voltage, Velocity<VoltageUnit>, Time) - Method in class yams.mechanisms.velocity.FlyWheel

sysId(Voltage, Velocity<VoltageUnit>, Time) - Method in class yams.mechanisms.velocity.SmartVelocityMechanism

Create the SysId routine and commands to run the SysId tests.

sysId(Voltage, Velocity<VoltageUnit>, Time) - Method in class yams.motorcontrollers.SmartMotorController

Run the SysIdRoutine which runs to the maximum MEASUREMENT at the step voltage then down to the minimum MEASUREMENT with the step voltage then up to the maximum MEASUREMENT increasing each second by the step voltage generated via the SmartMotorControllerConfig.

T

TalonFXSWrapper - Class in yams.motorcontrollers.remote

TalonFXS Wrapper for CTRE TalonFXS Motor Controllers.

TalonFXSWrapper(TalonFXS, DCMotor, SmartMotorControllerConfig) - Constructor for class yams.motorcontrollers.remote.TalonFXSWrapper

Create the TalonFXS wrapper

TalonFXWrapper - Class in yams.motorcontrollers.remote

TalonFX wrapper for a CTRE TalonFX motor controller.

TalonFXWrapper(TalonFX, DCMotor, SmartMotorControllerConfig) - Constructor for class yams.motorcontrollers.remote.TalonFXWrapper

Create the TalonFX wrapper

telemetry - Variable in class yams.motorcontrollers.SmartMotorController

Telemetry.

telemetryConfig - Variable in class yams.motorcontrollers.SmartMotorController

Config for publishing specific telemetry.

telemetryTable - Variable in class yams.motorcontrollers.SmartMotorController

SmartMotorController telemetry table.

TemperatureLimit - Enum constant in enum class yams.telemetry.SmartMotorControllerTelemetry.BooleanTelemetryField

Temperature limit if available.

times(double) - Method in class yams.gearing.GearBox

Multiply the gear reduction ratio by X.

times(double) - Method in class yams.gearing.Sprocket

Multiply the sprocket reduction ratio by X.

transformUnit(SmartMotorControllerConfig) - Method in class yams.telemetry.DoubleTelemetry

Set the unit.

tunable() - Method in class yams.telemetry.BooleanTelemetry

Check to see if the value has changed.

tunable() - Method in class yams.telemetry.DoubleTelemetry

Check to see if the value has changed.

TunableSetpointPosition - Enum constant in enum class yams.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField

Setpoint position

TunableSetpointVelocity - Enum constant in enum class yams.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField

Setpoint velocity

tuningEnabled() - Method in class yams.telemetry.SmartMotorControllerTelemetry

Whether or not tuning is enabled.

tuningTable - Variable in class yams.motorcontrollers.SmartMotorController

SmartMotorController tuning table.

U

updateLoopTime() - Method in class yams.telemetry.MechanismTelemetry

Update the loop time.

updateSimState() - Method in interface yams.motorcontrollers.SimSupplier

Update the sim state.

updateSimState() - Method in class yams.motorcontrollers.simulation.ArmSimSupplier

updateSimState() - Method in class yams.motorcontrollers.simulation.DCMotorSimSupplier

updateTelemetry() - Method in class yams.mechanisms.positional.Arm

updateTelemetry() - Method in class yams.mechanisms.positional.DifferentialMechanism

updateTelemetry() - Method in class yams.mechanisms.positional.DoubleJointedArm

updateTelemetry() - Method in class yams.mechanisms.positional.Elevator

updateTelemetry() - Method in class yams.mechanisms.positional.Pivot

updateTelemetry() - Method in class yams.mechanisms.SmartMechanism

Update the mechanism's telemetry.

updateTelemetry() - Method in class yams.mechanisms.swerve.SwerveDrive

Update the telemetry and SwerveDrivePoseEstimator of the drive.

updateTelemetry() - Method in class yams.mechanisms.swerve.SwerveModule

Update the telemetry of the module.

updateTelemetry() - Method in class yams.mechanisms.velocity.FlyWheel

updateTelemetry() - Method in class yams.motorcontrollers.SmartMotorController

Update the telemetry under the motor name under the given NetworkTable

useCANdiPWM1() - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

Check if CANdi PWM1 is used as the ExternalFeedbackConfigs.ExternalFeedbackSensorSource in TalonFXSConfiguration.ExternalFeedback.

useCANdiPWM1() - Method in class yams.motorcontrollers.remote.TalonFXWrapper

Check if CANdi PWM1 is used as the ExternalFeedbackConfigs.ExternalFeedbackSensorSource in TalonFXConfiguration.Feedback.

useCANdiPWM2() - Method in class yams.motorcontrollers.remote.TalonFXSWrapper

Check if CANdi PWM1 is used as the ExternalFeedbackConfigs.ExternalFeedbackSensorSource in TalonFXSConfiguration.ExternalFeedback.

useCANdiPWM2() - Method in class yams.motorcontrollers.remote.TalonFXWrapper

Check if CANdi PWM1 is used as the ExternalFeedbackConfigs.ExternalFeedbackSensorSource in TalonFXConfiguration.Feedback.

V

validateBasicOptions() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Validate all required options are at least fetched and handled in each SmartMotorController wrapper.

validateExternalEncoderOptions() - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Validate external encoder config options for the config.

valueOf(String) - Static method in enum class yams.mechanisms.config.MechanismPositionConfig.Plane

Returns the enum constant of this class with the specified name.

valueOf(String) - Static method in enum class yams.motorcontrollers.simulation.SensorData.HALValueType

Returns the enum constant of this class with the specified name.

valueOf(String) - Static method in enum class yams.motorcontrollers.SmartMotorControllerConfig.ControlMode

Returns the enum constant of this class with the specified name.

valueOf(String) - Static method in enum class yams.motorcontrollers.SmartMotorControllerConfig.MotorMode

Returns the enum constant of this class with the specified name.

valueOf(String) - Static method in enum class yams.motorcontrollers.SmartMotorControllerConfig.SmartMotorControllerOptions

Returns the enum constant of this class with the specified name.

valueOf(String) - Static method in enum class yams.motorcontrollers.SmartMotorControllerConfig.TelemetryVerbosity

Returns the enum constant of this class with the specified name.

valueOf(String) - Static method in enum class yams.telemetry.SmartMotorControllerTelemetry.BooleanTelemetryField

Returns the enum constant of this class with the specified name.

valueOf(String) - Static method in enum class yams.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField

Returns the enum constant of this class with the specified name.

values() - Static method in enum class yams.mechanisms.config.MechanismPositionConfig.Plane

Returns an array containing the constants of this enum class, in the order they are declared.

values() - Static method in enum class yams.motorcontrollers.simulation.SensorData.HALValueType

Returns an array containing the constants of this enum class, in the order they are declared.

values() - Static method in enum class yams.motorcontrollers.SmartMotorControllerConfig.ControlMode

Returns an array containing the constants of this enum class, in the order they are declared.

values() - Static method in enum class yams.motorcontrollers.SmartMotorControllerConfig.MotorMode

Returns an array containing the constants of this enum class, in the order they are declared.

values() - Static method in enum class yams.motorcontrollers.SmartMotorControllerConfig.SmartMotorControllerOptions

Returns an array containing the constants of this enum class, in the order they are declared.

values() - Static method in enum class yams.motorcontrollers.SmartMotorControllerConfig.TelemetryVerbosity

Returns an array containing the constants of this enum class, in the order they are declared.

values() - Static method in enum class yams.telemetry.SmartMotorControllerTelemetry.BooleanTelemetryField

Returns an array containing the constants of this enum class, in the order they are declared.

values() - Static method in enum class yams.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField

Returns an array containing the constants of this enum class, in the order they are declared.

VelocityControl - Enum constant in enum class yams.telemetry.SmartMotorControllerTelemetry.BooleanTelemetryField

Velocity control currently getting used.

visualizationUpdate() - Method in class yams.mechanisms.positional.Arm

Updates the mechanism ligament with the current angle of the arm.

visualizationUpdate() - Method in class yams.mechanisms.positional.DifferentialMechanism

Updates the mechanism ligament with the current angle of the Differential Mechanism.

visualizationUpdate() - Method in class yams.mechanisms.positional.DoubleJointedArm

Updates the mechanism ligament with the current angle of the arm.

visualizationUpdate() - Method in class yams.mechanisms.positional.Elevator

Updates the length of the mechanism ligament to match the current height of the elevator in meters.

visualizationUpdate() - Method in class yams.mechanisms.positional.Pivot

Updates the angle of the mechanism ligament to match the current angle of the pivot.

visualizationUpdate() - Method in class yams.mechanisms.SmartMechanism

Update the mechanism's visualization state.

visualizationUpdate() - Method in class yams.mechanisms.velocity.FlyWheel

Updates the angle of the mechanism ligament to match the current angle of the FlyWheel.

W

Weeks - Static variable in class yams.units.YUnits

7 Days.

withAbsoluteEncoder(Object) - Method in class yams.mechanisms.config.SwerveModuleConfig

Set the absolute encoder for the azimuth SmartMotorController if it's the SAME VENDOR, only.

withAbsoluteEncoder(DoubleSupplier) - Method in class yams.mechanisms.config.SwerveModuleConfig

Supply a non-alike vendor absolute encoder for the azimuth SmartMotorController.

withAbsoluteEncoder(Supplier<Angle>) - Method in class yams.mechanisms.config.SwerveModuleConfig

Supply a non-alike vendor absolute encoder for the azimuth SmartMotorController.

withAbsoluteEncoderGearing(GearBox) - Method in class yams.mechanisms.config.SwerveModuleConfig

Set the gearing of the absolute encoder if it's not 1:1.

withAbsoluteEncoderOffset(Angle) - Method in class yams.mechanisms.config.SwerveModuleConfig

Set the absolute encoder offset for the azimuth SmartMotorController so that the absolute encoder reads 0 while the wheel is facing forwards and bevel to the left.

withAim(Pose2d, BooleanSupplier) - Method in class yams.mechanisms.swerve.utility.SwerveInputStream

Aim the SwerveDrive at this pose while driving.

withAllianceRelativeControl() - Method in class yams.mechanisms.swerve.utility.SwerveInputStream

Modify the output ChassisSpeeds so that it is always relative to your alliance.

withAllianceRelativeControl(BooleanSupplier) - Method in class yams.mechanisms.swerve.utility.SwerveInputStream

Modify the output ChassisSpeeds so that it is always relative to your alliance.

withAngle(Angle) - Method in class yams.mechanisms.config.ElevatorConfig

Configure the Elevators angle for simulation.

withAngleSuppliers(Supplier<Angle>, Supplier<Angle>) - Method in class yams.mechanisms.config.DifferentialMechanismConfig

Setup suppliers for absolute encoders on the DifferentialMechanism

withArmFeedforward() - Method in class yams.telemetry.SmartMotorControllerTelemetryConfig

Enables the arm feedforward logging if available.

withCascadingElevatorStages(int) - Method in class yams.mechanisms.config.ElevatorConfig

Change the SmartMotorControllerConfig gear ratio to be divided by the number of stages given, will reapply it if already done manually.

withCenterOfRotation(Translation2d) - Method in class yams.mechanisms.config.SwerveDriveConfig

Set the center of rotation; 0,0 is the center of the robot.

withCenterOfRotation(Distance, Distance) - Method in class yams.mechanisms.config.SwerveDriveConfig

Set the center of rotation; 0,0 is the center of the robot.

withClosedLoopController(double, double, double) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the closed loop controller for the SmartMotorController, the units passed in are in Rotations (or Meters if Mechanism Circumference is configured), the outputs are in Volts.

withClosedLoopController(double, double, double, AngularVelocity, AngularAcceleration) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the closed loop controller for the SmartMotorController.

withClosedLoopController(double, double, double, LinearVelocity, LinearAcceleration) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the closed loop controller for the SmartMotorController.

withClosedLoopController(PIDController) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the closed loop controller for the SmartMotorController, the units passed in are in Rotations (or Meters if Mechanism Circumference is configured), the outputs are in Volts.

withClosedLoopController(ProfiledPIDController) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the closed loop controller for the SmartMotorController, the units passed in are in Rotations (or Meters if Mechanism Circumference is configured), outputs are in Volts.

withClosedLoopController(ExponentialProfilePIDController) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the closed loop controller for the SmartMotorController with an exponential profile, the units passed in are in Rotations (or Meters if Mechanism Circumference is configured), outputs are in Volts.

withClosedLoopControllerMaximumVoltage(Voltage) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the closed loop maximum voltage output.

withClosedLoopControlPeriod(Frequency) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Modify the period of the PID controller for the motor controller.

withClosedLoopControlPeriod(Time) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Modify the period of the PID controller for the motor controller.

withClosedLoopRampRate(Time) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the closed loop ramp rate.

withClosedLoopTolerance(Angle) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the closed loop tolerance of the mechanism controller.

withClosedLoopTolerance(Distance) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the SmartMotorController closed loop controller tolerance via distance.

withContinuousWrapping(Angle, Angle) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set continuous wrapping for the SmartMotorController

withControllerHeadingAxis(DoubleSupplier, DoubleSupplier) - Method in class yams.mechanisms.swerve.utility.SwerveInputStream

Add heading axis for Heading based control.

withControllerRotationAxis(DoubleSupplier) - Method in class yams.mechanisms.swerve.utility.SwerveInputStream

Add a rotation axis for Angular Velocity control

withControlMode(SmartMotorControllerConfig.ControlMode) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the control mode for the SmartMotorController

withCosineCompensation(boolean) - Method in class yams.mechanisms.config.SwerveModuleConfig

Cosine compensation for the SwerveModule, adjusting the velocity by the cosine of the (current_angle-desired_angle).

withCubeRotationControllerAxis() - Method in class yams.mechanisms.swerve.utility.SwerveInputStream

Cube the angular velocity controller axis for a non-linear controls scheme.

withCubeRotationControllerAxis(BooleanSupplier) - Method in class yams.mechanisms.swerve.utility.SwerveInputStream

Cube the angular velocity controller axis for a non-linear controls scheme.

withCubeTranslationControllerAxis() - Method in class yams.mechanisms.swerve.utility.SwerveInputStream

Cube the translation axis magnitude for a non-linear control scheme

withCubeTranslationControllerAxis(BooleanSupplier) - Method in class yams.mechanisms.swerve.utility.SwerveInputStream

Cube the translation axis magnitude for a non-linear control scheme.

withDeadband(double) - Method in class yams.mechanisms.swerve.utility.SwerveInputStream

Set a deadband for all controller axis.

withDiameter(Distance) - Method in class yams.mechanisms.config.FlyWheelConfig

Configure the FlyWheels diameter for simulation.

withDiscretizationTime(Time) - Method in class yams.mechanisms.config.SwerveDriveConfig

Set the discretization time for the pose estimation.

withDistanceFromCenterOfRotation(Distance, Distance) - Method in class yams.mechanisms.config.SwerveModuleConfig

Set the distance from the center of rotation for the SwerveModule.

withDrumRadius(Distance) - Method in class yams.mechanisms.config.ElevatorConfig

Set the Elevator drum radius.

withDrumRadius(Distance, int) - Method in class yams.mechanisms.config.ElevatorConfig

Set the Elevator drum radius via the chain pitch (.25in or .35in) and teeth count.

withElevatorFeedforward() - Method in class yams.telemetry.SmartMotorControllerTelemetryConfig

Enables the elevator feedforward logging if available.

withEncoderInverted(boolean) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the encoder inversion state.

withExternalEncoder(Object) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the external encoder which is attached to the motor type sent used by SmartMotorController

withExternalEncoderGearing(double) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the external encoder gearing.

withExternalEncoderGearing(MechanismGearing) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the external encoder gearing.

withExternalEncoderInverted(boolean) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the external encoder inversion state.

withExternalEncoderZeroOffset(Angle) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the zero offset of the SmartMotorController's external Encoder.

withExternalEncoderZeroOffset(Distance) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the zero offset of the SmartMotorController's external Encoder.

withFeedbackSynchronizationThreshold(Angle) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the feedback synchronization threshhold so the relative encoder synchronizes with the absolute encoder at this point.

withFeedforward(ArmFeedforward) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Configure the ArmFeedforward for the

withFeedforward(ElevatorFeedforward) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Configure ElevatorFeedforward for the SmartMotorController

withFeedforward(SimpleMotorFeedforward) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the SimpleMotorFeedforward for SmartMotorController, units are in Rotations

withField(String, BooleanSupplier, boolean) - Method in class yams.mechanisms.config.SensorConfig

Add a field to the sensor.

withField(String, DoubleSupplier, double) - Method in class yams.mechanisms.config.SensorConfig

Add a field to the sensor.

withField(String, IntSupplier, int) - Method in class yams.mechanisms.config.SensorConfig

Add a field to the sensor.

withField(String, LongSupplier, long) - Method in class yams.mechanisms.config.SensorConfig

Add a field to the sensor.

withFollowers(Pair<Object, Boolean>...) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the follower motors of the SmartMotorController

withGearing(double) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the MechanismGearing for the SmartMotorController.

withGearing(MechanismGearing) - Method in class yams.mechanisms.config.DifferentialMechanismConfig

Aet the gearing for the differential mechanism if it isnt 1:1.

withGearing(MechanismGearing) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the MechanismGearing for the SmartMotorController.

withGyro(Supplier<Angle>) - Method in class yams.mechanisms.config.SwerveDriveConfig

Get the SwerveModules for the SwerveDrive.

withGyroAngularVelocityScaleFactor(double) - Method in class yams.mechanisms.config.SwerveDriveConfig

Set the angular velocity scale factor to improve the accuracy of the pose estimation.

withGyroInverted(boolean) - Method in class yams.mechanisms.config.SwerveDriveConfig

Set the gyro inverted.

withGyroOffset(Angle) - Method in class yams.mechanisms.config.SwerveDriveConfig

Set the gyro offset.

withGyroVelocity(Supplier<AngularVelocity>) - Method in class yams.mechanisms.config.SwerveDriveConfig

Angular velocity of the gyro.

withHardLimit(Angle, Angle) - Method in class yams.mechanisms.config.ArmConfig

Set the Hard Limits for simulation

withHardLimit(Angle, Angle) - Method in class yams.mechanisms.config.PivotConfig

Set the Hard Limits for simulation

withHardLimits(Distance, Distance) - Method in class yams.mechanisms.config.ElevatorConfig

Set the Hard Limits for simulation

withHeadingControl(BooleanSupplier) - Method in class yams.mechanisms.swerve.utility.SwerveInputStream

Output ChassisSpeeds based on heading while the supplier is True.

withHorizontalZero(Angle) - Method in class yams.mechanisms.config.ArmConfig

Set the horizontal zero of the arms absolute encoder.

withIdleMode(SmartMotorControllerConfig.MotorMode) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the SmartMotorController to brake or coast mode.

withLength(Distance) - Method in class yams.mechanisms.config.ArmConfig

Configure the Arms length for simulation.

withLength(Distance) - Method in class yams.mechanisms.config.DifferentialMechanismConfig

Set the length of the DifferentialMechanism.

withLocation(Translation2d) - Method in class yams.mechanisms.config.SwerveModuleConfig

Set the location for the SwerveModule in Meters from the center of rotation.

withLocation(Distance, Angle) - Method in class yams.mechanisms.config.SwerveModuleConfig

Set the location for the SwerveModule using polar coordinates.

withLocation(Distance, Distance) - Method in class yams.mechanisms.config.SwerveModuleConfig

Set the distance from the center of rotation for the SwerveModule.

withLooselyCoupledFollowers(SmartMotorController...) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Applies loosely coupled follower motors to the SmartMotorController.

withLowerSoftLimit(AngularVelocity) - Method in class yams.mechanisms.config.FlyWheelConfig

Set the minimum velocity of the shooter.

withMass(Mass) - Method in class yams.mechanisms.config.ArmConfig

Configure the Arms Mass for simulation.

withMass(Mass) - Method in class yams.mechanisms.config.ElevatorConfig

Configure the Elevators Mass for simulation.

withMass(Mass) - Method in class yams.mechanisms.config.FlyWheelConfig

Configure the FlyWheels Mass for simulation.

withMaximumAngularVelocity(AngularVelocity) - Method in class yams.mechanisms.swerve.utility.SwerveInputStream

Maximum angular velocity to use for the SwerveDrive object, will be translated to Rotations per Second.

withMaximumChassisSpeed(LinearVelocity, AngularVelocity) - Method in class yams.mechanisms.config.SwerveDriveConfig

Maximum speed of the chassis to desaturate towards.

withMaximumLinearVelocity(LinearVelocity) - Method in class yams.mechanisms.swerve.utility.SwerveInputStream

Maximum linear velocity to use for the SwerveDrive object, will be translated to Meters per Second.

withMaximumModuleSpeed(LinearVelocity) - Method in class yams.mechanisms.config.SwerveDriveConfig

Set the maximum speed of the modules to desaturate towards.

withMaxRobotHeight(Distance) - Method in class yams.mechanisms.config.MechanismPositionConfig

Set the height of the robot for visualization purposes.

withMaxRobotLength(Distance) - Method in class yams.mechanisms.config.MechanismPositionConfig

Set the length of the robot for visualization purposes.

withMeasurementPosition() - Method in class yams.telemetry.SmartMotorControllerTelemetryConfig

Enables the distance logging if available.

withMeasurementVelocity() - Method in class yams.telemetry.SmartMotorControllerTelemetryConfig

Enables the linear velocity logging if available.

withMechanismCircumference(Distance) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the mechanism circumference to allow distance calculations on the SmartMotorController.

withMechanismLowerLimit() - Method in class yams.telemetry.SmartMotorControllerTelemetryConfig

Enables the mechanism lower limit logging if available.

withMechanismPosition() - Method in class yams.telemetry.SmartMotorControllerTelemetryConfig

Enables the mechanism position logging if available.

withMechanismPositionConfig(MechanismPositionConfig) - Method in class yams.mechanisms.config.ArmConfig

Set the elevator mechanism position configuration.

withMechanismPositionConfig(MechanismPositionConfig) - Method in class yams.mechanisms.config.DifferentialMechanismConfig

Set the differential mechanism position configuration.

withMechanismPositionConfig(MechanismPositionConfig) - Method in class yams.mechanisms.config.ElevatorConfig

Set the elevator mechanism position configuration.

withMechanismPositionConfig(MechanismPositionConfig) - Method in class yams.mechanisms.config.FlyWheelConfig

Set the shooter mechanism position configuration.

withMechanismPositionConfig(MechanismPositionConfig) - Method in class yams.mechanisms.config.PivotConfig

Set the elevator mechanism position configuration.

withMechanismUpperLimit() - Method in class yams.telemetry.SmartMotorControllerTelemetryConfig

Enables the mechanism upper limit logging if available.

withMechanismVelocity() - Method in class yams.telemetry.SmartMotorControllerTelemetryConfig

Enables the mechanism velocity logging if available.

withMinimumVelocity(LinearVelocity) - Method in class yams.mechanisms.config.SwerveModuleConfig

Set the minimum velocity for the SmartMotorController.

withModules(SwerveModule...) - Method in class yams.mechanisms.config.SwerveDriveConfig

Set the SwerveModules for the SwerveDrive.

withMOI(double) - Method in class yams.mechanisms.config.ArmConfig

Configure the MOI directly instead of estimating it with the length and mass of the Arm for simulation.

withMOI(double) - Method in class yams.mechanisms.config.DifferentialMechanismConfig

Configure the MOI directly instead of estimating it with the length and mass of the DifferentialMechanism for simulation.

withMOI(double) - Method in class yams.mechanisms.config.FlyWheelConfig

Configure the MOI directly instead of estimating it with the length and mass of the FlyWheel for simulation.

withMOI(double) - Method in class yams.mechanisms.config.PivotConfig

Configure the MOI directly instead of estimating it with the length and mass of the Pivot for simulation.

withMOI(Distance, Mass) - Method in class yams.mechanisms.config.DifferentialMechanismConfig

Configure the MOI directly instead of estimating it with the length and mass of the DifferentialMechanism for simulation.

withMOI(Distance, Mass) - Method in class yams.mechanisms.config.FlyWheelConfig

Configure the MOI directly instead of estimating it with the length and mass of the FlyWheel for simulation.

withMOI(Distance, Mass) - Method in class yams.mechanisms.config.PivotConfig

Configure the MOI directly instead of estimating it with the length and mass of the Pivot for simulation.

withMomentOfInertia(double) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Add the mechanism moment of inertia to the SmartMotorControllers simulation when not run under a formal mechanism.

withMomentOfInertia(Distance, Mass) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Add the mechanism moment of inertia to the SmartMotorControllers simulation when not run under a formal mechanism.

withMotionProfile() - Method in class yams.telemetry.SmartMotorControllerTelemetryConfig

Enables the motion profile logging if available.

withMotorInverted(boolean) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the motor inversion state.

withMovementPlane(MechanismPositionConfig.Plane) - Method in class yams.mechanisms.config.MechanismPositionConfig

Set the plane that the mechanism is on, used for position calculations.

withOpenLoopRampRate(Time) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the open loop ramp rate.

withOptimization(boolean) - Method in class yams.mechanisms.config.SwerveModuleConfig

Use SwerveModuleState.optimize(Rotation2d) to optimize each state.

withOutputVoltage() - Method in class yams.telemetry.SmartMotorControllerTelemetryConfig

Enables the output voltage logging if available.

withRelativePosition(Translation3d) - Method in class yams.mechanisms.config.MechanismPositionConfig

Set the position of the SmartPositionalMechanism relative to the robot.

withRobotRelative() - Method in class yams.mechanisms.swerve.utility.SwerveInputStream

Set the stream to output robot relative ChassisSpeeds

withRobotRelative(BooleanSupplier) - Method in class yams.mechanisms.swerve.utility.SwerveInputStream

Set the stream to output robot relative ChassisSpeeds

withRotationController(PIDController) - Method in class yams.mechanisms.config.SwerveDriveConfig

Set the rotation PID controller.

withRotorPosition() - Method in class yams.telemetry.SmartMotorControllerTelemetryConfig

Enables the rotor position logging if available.

withRotorVelocity() - Method in class yams.telemetry.SmartMotorControllerTelemetryConfig

Enables the rotor velocity logging if available.

withScaleRotation(double) - Method in class yams.mechanisms.swerve.utility.SwerveInputStream

Scale the rotation axis input for SwerveInputStream to reduce the range in which they operate.

withScaleTranslation(double) - Method in class yams.mechanisms.swerve.utility.SwerveInputStream

Scale the translation axis for SwerveInputStream by a constant scalar value.

withSetpointPosition() - Method in class yams.telemetry.SmartMotorControllerTelemetryConfig

Enables the setpoint position logging if available.

withSetpointVelocity() - Method in class yams.telemetry.SmartMotorControllerTelemetryConfig

Enables the setpoint velocity logging if available.

withSimClosedLoopController(double, double, double) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the closed loop controller for the SmartMotorController, the units passed in are in Rotations (or Meters if Mechanism Circumference is configured).

withSimClosedLoopController(double, double, double, AngularVelocity, AngularAcceleration) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the closed loop controller for the SmartMotorController.

withSimClosedLoopController(double, double, double, LinearVelocity, LinearAcceleration) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the closed loop controller for the SmartMotorController.

withSimClosedLoopController(PIDController) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the closed loop controller for the SmartMotorController, the units passed in are in Rotations (or Meters if Mechanism Circumference is configured).

withSimClosedLoopController(ProfiledPIDController) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the closed loop controller for the SmartMotorController.

withSimClosedLoopController(ExponentialProfilePIDController) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the closed loop controller for the SmartMotorController.

withSimColor(Color8Bit) - Method in class yams.mechanisms.config.ArmConfig

Publish the color in sim as this.

withSimColor(Color8Bit) - Method in class yams.mechanisms.config.DifferentialMechanismConfig

Publish the color in sim as this.

withSimColor(Color8Bit) - Method in class yams.mechanisms.config.ElevatorConfig

Publish the color in sim as this.

withSimColor(Color8Bit) - Method in class yams.mechanisms.config.FlyWheelConfig

Publish the color in sim as this.

withSimColor(Color8Bit) - Method in class yams.mechanisms.config.PivotConfig

Publish the color in sim as this.

withSimDiscretizationTime(Time) - Method in class yams.mechanisms.config.SwerveDriveConfig

Set the discretization time for the pose estimation.

withSimFeedforward(ArmFeedforward) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Configure the ArmFeedforward for the

withSimFeedforward(ElevatorFeedforward) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Configure ElevatorFeedforward for the SmartMotorController

withSimFeedforward(SimpleMotorFeedforward) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the SimpleMotorFeedforward for SmartMotorController, units are in Rotations.

withSimGyroAngularVelocityScaleFactor(double) - Method in class yams.mechanisms.config.SwerveDriveConfig

Set the angular velocity scale factor to improve the accuracy of the pose estimation.

withSimpleFeedforward() - Method in class yams.telemetry.SmartMotorControllerTelemetryConfig

Enables the simple feedforward logging if available.

withSimRotationController(PIDController) - Method in class yams.mechanisms.config.SwerveDriveConfig

Set the rotation PID controller.

withSimTranslationController(PIDController) - Method in class yams.mechanisms.config.SwerveDriveConfig

Set the translation PID controller.

withSimulatedValue(String, Time, Time, boolean) - Method in class yams.mechanisms.config.SensorConfig

Add a simulated value to the sensor at a given match time.

withSimulatedValue(String, Time, Time, double) - Method in class yams.mechanisms.config.SensorConfig

Add a simulated value to the sensor at a given match time.

withSimulatedValue(String, Time, Time, int) - Method in class yams.mechanisms.config.SensorConfig

Add a simulated value to the sensor at a given match time.

withSimulatedValue(String, Time, Time, long) - Method in class yams.mechanisms.config.SensorConfig

Add a simulated value to the sensor at a given match time.

withSimulatedValue(String, BooleanSupplier, boolean) - Method in class yams.mechanisms.config.SensorConfig

Add a simulated value to the sensor at a given trigger.

withSimulatedValue(String, BooleanSupplier, double) - Method in class yams.mechanisms.config.SensorConfig

Add a simulated value to the sensor at a given trigger.

withSimulatedValue(String, BooleanSupplier, int) - Method in class yams.mechanisms.config.SensorConfig

Add a simulated value to the sensor at a given trigger.

withSimulatedValue(String, BooleanSupplier, long) - Method in class yams.mechanisms.config.SensorConfig

Add a simulated value to the sensor at a given trigger.

withSmartMotorController(SmartMotorController) - Method in class yams.mechanisms.config.ArmConfig

Configure the SmartMotorController for the Arm

withSmartMotorController(SmartMotorController) - Method in class yams.mechanisms.config.ElevatorConfig

Set the SmartMotorController for the Elevator

withSmartMotorController(SmartMotorController) - Method in class yams.mechanisms.config.FlyWheelConfig

Set the SmartMotorController for the FlyWheel

withSmartMotorController(SmartMotorController) - Method in class yams.mechanisms.config.PivotConfig

Configure the SmartMotorController for the Pivot

withSmartMotorController(SmartMotorController, SmartMotorController) - Method in class yams.mechanisms.config.SwerveModuleConfig

Set the SmartMotorController for the SwerveModule.

withSmartMotorControllers(SmartMotorController, SmartMotorController) - Method in class yams.mechanisms.config.DifferentialMechanismConfig

Add the smart motor controllers to the configuration.

withSoftLimit(Angle, Angle) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the angle soft limits.

withSoftLimit(AngularVelocity, AngularVelocity) - Method in class yams.mechanisms.config.FlyWheelConfig

Set the shooter soft limits.

withSoftLimit(Distance, Distance) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the distance soft limits.

withSoftLimits(Angle, Angle) - Method in class yams.mechanisms.config.ArmConfig

Set the arm soft limits.

withSoftLimits(Angle, Angle) - Method in class yams.mechanisms.config.PivotConfig

Set the pivot soft limits.

withSoftLimits(Distance, Distance) - Method in class yams.mechanisms.config.ElevatorConfig

Set the elevator soft limits.

withSpeedometerSimulation() - Method in class yams.mechanisms.config.FlyWheelConfig

Enables the use of the speedometer simulation for the shooter.

withSpeedometerSimulation(AngularVelocity) - Method in class yams.mechanisms.config.FlyWheelConfig

Enables the use of the speedometer simulation for the shooter.

withStartingHeight(Distance) - Method in class yams.mechanisms.config.ElevatorConfig

Set the elevator starting position.

withStartingPose(Pose2d) - Method in class yams.mechanisms.config.SwerveDriveConfig

Set the starting pose of the robot.

withStartingPosition(Angle) - Method in class yams.mechanisms.config.ArmConfig

Set the arm starting angle of the motor controller encoder.

withStartingPosition(Angle) - Method in class yams.mechanisms.config.PivotConfig

Set the pivot starting position.

withStartingPosition(Angle) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the starting angle of the SmartMotorController

withStartingPosition(Angle, Angle) - Method in class yams.mechanisms.config.DifferentialMechanismConfig

Set the DifferentialMechanism starting positions.

withStartingPosition(Distance) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the starting angle of the SmartMotorController

withStatorCurrent() - Method in class yams.telemetry.SmartMotorControllerTelemetryConfig

Enables the stator current logging if available.

withStatorCurrentLimit(Current) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the stall stator current limit for the SmartMotorController

withSubsystem(Subsystem) - Method in class yams.mechanisms.config.SwerveDriveConfig

Define a Subsystem for the SwerveDrive

withSubsystem(Subsystem) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Sets the Subsystem for the SmartMotorControllerConfig to pass along to SmartMotorController and SmartMechanisms.

withSupplyCurrentLimit(Current) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the stall supply current limit for the SmartMotorController

withTelemetry(String, String, SmartMotorControllerConfig.TelemetryVerbosity) - Method in class yams.mechanisms.config.ArmConfig

Deprecated.

withTelemetry(String, String, SmartMotorControllerConfig.TelemetryVerbosity) - Method in class yams.mechanisms.config.ElevatorConfig

Deprecated.

withTelemetry(String, String, SmartMotorControllerConfig.TelemetryVerbosity) - Method in class yams.mechanisms.config.FlyWheelConfig

Deprecated.

withTelemetry(String, String, SmartMotorControllerConfig.TelemetryVerbosity) - Method in class yams.mechanisms.config.PivotConfig

Deprecated.

withTelemetry(String, SmartMotorControllerConfig.TelemetryVerbosity) - Method in class yams.mechanisms.config.ArmConfig

Configure telemetry for the Arm mechanism.

withTelemetry(String, SmartMotorControllerConfig.TelemetryVerbosity) - Method in class yams.mechanisms.config.DifferentialMechanismConfig

Configure telemetry for the Pivot mechanism.

withTelemetry(String, SmartMotorControllerConfig.TelemetryVerbosity) - Method in class yams.mechanisms.config.ElevatorConfig

Configure telemetry for the Elevator mechanism.

withTelemetry(String, SmartMotorControllerConfig.TelemetryVerbosity) - Method in class yams.mechanisms.config.FlyWheelConfig

Configure telemetry for the FlyWheel mechanism.

withTelemetry(String, SmartMotorControllerConfig.TelemetryVerbosity) - Method in class yams.mechanisms.config.PivotConfig

Configure telemetry for the Pivot mechanism.

withTelemetry(String, SmartMotorControllerConfig.TelemetryVerbosity) - Method in class yams.mechanisms.config.SwerveModuleConfig

Configure telemetry for the SwerveModule mechanism.

withTelemetry(String, SmartMotorControllerConfig.TelemetryVerbosity) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the telemetry for the SmartMotorController

withTelemetry(String, SmartMotorControllerTelemetryConfig) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the telemetry for the SmartMotorController with a SmartMotorControllerTelemetryConfig

withTelemetry(SmartMotorControllerConfig.TelemetryVerbosity) - Method in class yams.mechanisms.config.SwerveDriveConfig

Configure telemetry for the SwerveModule mechanism.

withTelemetry(SmartMotorControllerConfig.TelemetryVerbosity) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the telemetry for the SmartMotorController

withTelemetryVerbosity(SmartMotorControllerConfig.TelemetryVerbosity) - Method in class yams.telemetry.SmartMotorControllerTelemetryConfig

Setup with SmartMotorControllerConfig.TelemetryVerbosity

withTemperature() - Method in class yams.telemetry.SmartMotorControllerTelemetryConfig

Enables the temperature logging if available.

withTemperatureCutoff(Temperature) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the Temperature cut off for the SmartMotorController/

withTemperatureLimit() - Method in class yams.telemetry.SmartMotorControllerTelemetryConfig

Enables the temperature limit logging if available.

withTiltStartingPosition(Angle) - Method in class yams.mechanisms.config.DifferentialMechanismConfig

Set the DifferentialMechanism tilt starting position.

withTranslationController(PIDController) - Method in class yams.mechanisms.config.SwerveDriveConfig

Set the translation PID controller.

withTranslationHeadingOffset(Rotation2d) - Method in class yams.mechanisms.swerve.utility.SwerveInputStream

Set the heading offset angle.

withTranslationHeadingOffset(Rotation2d, BooleanSupplier) - Method in class yams.mechanisms.swerve.utility.SwerveInputStream

Heading offset enabled boolean supplier.

withTranslationOnly(BooleanSupplier) - Method in class yams.mechanisms.swerve.utility.SwerveInputStream

Enable locking of rotation and only translating, overrides everything.

withTwistStartingPosition(Angle) - Method in class yams.mechanisms.config.DifferentialMechanismConfig

Set the DifferentialMechanism twist starting position.

withUpperSoftLimit(AngularVelocity) - Method in class yams.mechanisms.config.FlyWheelConfig

Set the maximum velocity of the shooter.

withUseExternalFeedbackEncoder(boolean) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the external encoder to be the primary feedback device for the PID controller.

withVelocityControl() - Method in class yams.telemetry.SmartMotorControllerTelemetryConfig

Enables the velocity control mode logging if available.

withVoltageCompensation(Voltage) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the voltage compensation for the SmartMotorController

withWheelDiameter(Distance) - Method in class yams.mechanisms.config.SwerveModuleConfig

Set the wheel diameter for the SmartMotorController, ideally should be set inside the drive motor SmartMotorControllerConfig.

withWheelDiameter(Distance) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the wheel diameter for the mechanism.

withWheelRadius(Distance) - Method in class yams.mechanisms.config.SwerveModuleConfig

Set the wheel radius for the SmartMotorController, ideally should be set inside the drive motor SmartMotorControllerConfig

withWheelRadius(Distance) - Method in class yams.motorcontrollers.SmartMotorControllerConfig

Set the wheel radius for the mechanism.

withWrapping(Angle, Angle) - Method in class yams.mechanisms.config.ArmConfig

Wrap the arm around these angles.

withWrapping(Angle, Angle) - Method in class yams.mechanisms.config.PivotConfig

Wrap the pivot around these angles.

X

XY - Enum constant in enum class yams.mechanisms.config.MechanismPositionConfig.Plane

X-Y Plane

XZ - Enum constant in enum class yams.mechanisms.config.MechanismPositionConfig.Plane

X-Z Plane

Y

yams.exceptions - package yams.exceptions

Exceptions for YAMS.

yams.gearing - package yams.gearing

Yet Another Mechanism System gearing classes for easier calculations.

yams.math - package yams.math

Yet Another Mechanism System math classes for easier calculations.

yams.mechanisms - package yams.mechanisms

Mechanism classes.

yams.mechanisms.config - package yams.mechanisms.config

Mechanism configuration classes.

yams.mechanisms.positional - package yams.mechanisms.positional

Positional mechanism classes.

yams.mechanisms.swerve - package yams.mechanisms.swerve

yams.mechanisms.swerve.utility - package yams.mechanisms.swerve.utility

yams.mechanisms.velocity - package yams.mechanisms.velocity

Velocity mechanism classes.

yams.motorcontrollers - package yams.motorcontrollers

Motor controller wrappers

yams.motorcontrollers.local - package yams.motorcontrollers.local

Motor controller wrappers for motor controllers that require robot controller interfacing for advanced functionality.

yams.motorcontrollers.remote - package yams.motorcontrollers.remote

Motor controller wrappers for sufficiently advanced motor controllers which can use the motor controller functionality.

yams.motorcontrollers.simulation - package yams.motorcontrollers.simulation

yams.telemetry - package yams.telemetry

Telemetry configuration and publishing.

yams.units - package yams.units

Yard - Static variable in class yams.units.YUnits

914.4/1000 of a Units.Meters, or 3 Units.Feet.

Yards - Static variable in class yams.units.YUnits

914.4/1000 of a Units.Meters, or 3 Units.Feet.

Year - Static variable in class yams.units.YUnits

Alias for Years to make combined unit definitions read more smoothly.

Years - Static variable in class yams.units.YUnits

525600 Units.Minutes.

YUnits - Class in yams.units

YUnits that are fun and useful!

YUnits() - Constructor for class yams.units.YUnits

YZ - Enum constant in enum class yams.mechanisms.config.MechanismPositionConfig.Plane

Y-Z Plane

Z

zeroGyro() - Method in class yams.mechanisms.swerve.SwerveDrive

Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0 (red alliance station).

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