Index (Yet Another Mechanism System API)

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

A

AbsoluteEncoder - Enum constant in enum class yams.core.telemetry.SwerveModuleTelemetry.DoubleTelemetryField: Absolute encoder angle, without offsets applied, in degrees.
Absolute encoder discontinuity - Section in package yams.core.motorcontrollers.local
ActiveClosedLoopControllerSlot - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: Active closed loop controller slot.
addCloseHook(Runnable) - Method in class yams.core.motorcontrollers.SmartMotorController: Register a hook to run when SmartMotorController.close() is called, so command-layer helpers (e.g.
addCommand(String, Subsystem, Runnable) - Static method in class yams.commands2.telemetry.SmartMotorControllerCommandRegistry: Add a command to the registry.
addCommand(String, Subsystem, Runnable, Runnable) - Static method in class yams.commands2.telemetry.SmartMotorControllerCommandRegistry: Add a command to the registry, with a Runnable run when the shared command ends.
addCommand(String, Mechanism, Runnable) - Static method in class yams.commands3.telemetry.SmartMotorControllerCommandRegistry: Add a command to the registry.
addCommand(String, Mechanism, Runnable, Runnable) - Static method in class yams.commands3.telemetry.SmartMotorControllerCommandRegistry: Add a command to the registry, with a Runnable run when the shared command ends.
addMotorController(String, SmartMotorController) - Method in class yams.core.telemetry.MechanismTelemetry: Wire an additional SmartMotorController's telemetry into a named child table of this mechanism, without disturbing the mechanism's own data/tuning table references or loop-time publisher.
addSimTrigger(String, HALValue, BooleanSupplier) - Method in class yams.core.motorcontrollers.simulation.Sensor: Set a simulated value based on a trigger.
addSimTrigger(HALValue, BooleanSupplier) - Method in class yams.core.motorcontrollers.simulation.SensorData: Add a value set based on a trigger.
addVisionMeasurement(Pose2d, double) - Method in class yams.core.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) - Method in class yams.core.mechanisms.swerve.SwerveDrive: Add a vision measurement to the SwerveDrivePoseEstimator and update the gyro reading with the given timestamp of the vision measurement.
aimLock(Angle) - Method in class yams.commands2.swerve.SwerveInputStream: Trigger that is true while the robot is aiming and facing its aim heading.
aimLock(Angle) - Method in class yams.commands3.swerve.SwerveInputStream: Trigger that is true while the robot is aiming and facing its aim heading.
applyConfig() - Method in class yams.core.mechanisms.config.DifferentialMechanismConfig: Apply config changes from this class to the SmartMotorController
applyConfig(SmartMotorControllerConfig) - Method in class yams.core.motorcontrollers.local.NovaWrapper: Apply the SmartMotorControllerConfig to the SmartMotorController.
applyConfig(SmartMotorControllerConfig) - Method in class yams.core.motorcontrollers.local.SparkWrapper: Apply the SmartMotorControllerConfig to the SmartMotorController.
applyConfig(SmartMotorControllerConfig) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper: Apply the SmartMotorControllerConfig to the SmartMotorController.
applyConfig(SmartMotorControllerConfig) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper: Apply the SmartMotorControllerConfig to the SmartMotorController.
applyConfig(SmartMotorControllerConfig) - Method in class yams.core.motorcontrollers.SmartMotorController: Apply the SmartMotorControllerConfig to the SmartMotorController.
applyTuningValues() - Method in class yams.commands2.telemetry.SwerveInputStreamTelemetry: Apply values edited on the dashboard to the stream, and publish changes made to the stream in code.
applyTuningValues() - Method in class yams.commands3.telemetry.SwerveInputStreamTelemetry: Apply values edited on the dashboard to the stream, and publish changes made to the stream in code.
applyTuningValues() - Method in class yams.core.mechanisms.swerve.SwerveDrive: Apply the live-tuned values (from NetworkTables) to this SwerveDrive's drive-to-pose controllers.
applyTuningValues() - Method in class yams.core.motorcontrollers.SmartMotorController: Apply the live-tuned values (from the Tuning NetworkTable) to this SmartMotorController.
applyTuningValues(SwerveDrive) - Method in class yams.core.telemetry.SwerveDriveTelemetry: Apply the tuning values from NetworkTable to the SwerveDrive
applyTuningValues(SmartMotorController) - Method in class yams.core.telemetry.SmartMotorControllerTelemetry: Apply the tuning values from NetworkTable to the SmartMotorController
Arm - Class in yams.commands2.mechanisms: Command-based extension of Arm that adds the Subsystem binding and Command/Trigger factories.
Arm - Class in yams.commands3.mechanisms: Command-based extension of Arm that adds the Mechanism binding and Command/Trigger factories.
Arm - Class in yams.core.mechanisms.positional: Arm mechanism.
Arm(ArmConfig, SmartMotorController) - Constructor for class yams.commands2.mechanisms.Arm: Constructor for the Arm mechanism.
Arm(ArmConfig, SmartMotorController) - Constructor for class yams.commands3.mechanisms.Arm: Constructor for the Arm mechanism.
Arm(ArmConfig, SmartMotorController) - Constructor for class yams.core.mechanisms.positional.Arm: Constructor for the Arm mechanism.
ARM - Enum constant in enum class yams.core.math.LQRConfig.LQRType: Arm LQR
ArmConfig - Class in yams.core.mechanisms.config: Arm configuration class.
ArmConfig() - Constructor for class yams.core.mechanisms.config.ArmConfig: Arm configuration class.
ArmConfigurationException - Exception Class in yams.core.exceptions: Thrown by Arm when a required ArmConfig field is missing or invalid.
ArmConfigurationException(String, String, String) - Constructor for exception class yams.core.exceptions.ArmConfigurationException: Arm configuration exception.
ArmFeedForward - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.BooleanTelemetryField: Arm feedforward currently getting used.
ArmSimSupplier - Class in yams.core.motorcontrollers.simulation: ArmSim Supplier simulates a single-jointed arm mechanism using WPILib's SingleJointedArmSim.
ArmSimSupplier(SingleJointedArmSim, SmartMotorController) - Constructor for class yams.core.motorcontrollers.simulation.ArmSimSupplier: Construct the ArmSim supplier
atSetpoint() - Method in class yams.core.math.ExponentialProfilePIDController: Returns true if the error is within the tolerance of the setpoint.
attachController(SmartMotorController) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Attach the SmartMotorController this config was applied to, so command-layer helpers (e.g.
AutoAlignEnabled - Enum constant in enum class yams.core.telemetry.SwerveDriveTelemetry.BooleanTelemetryField: Enables or disables driving to the auto-align target pose.
AutoAlignPoseRotation - Enum constant in enum class yams.core.telemetry.SwerveDriveTelemetry.DoubleTelemetryField: Rotation of the auto-align target pose, in degrees.
AutoAlignPoseX - Enum constant in enum class yams.core.telemetry.SwerveDriveTelemetry.DoubleTelemetryField: X position of the auto-align target pose, in meters.
AutoAlignPoseY - Enum constant in enum class yams.core.telemetry.SwerveDriveTelemetry.DoubleTelemetryField: Y position of the auto-align target pose, in meters.
Available Configuration Classes - Section in package yams.commands2.config
Available Configuration Classes - Section in package yams.core.mechanisms.config
Available Mechanisms - Section in package yams.core.mechanisms.positional
Available Mechanisms - Section in package yams.core.mechanisms.velocity
azimuthVelocity - Variable in class yams.core.mechanisms.swerve.SwerveModuleVelocityWithAzimuth: Angular velocity of the azimuth, counterclockwise positive.

B

Basic usage (default NetworkTable path) - Section in class yams.core.telemetry.SmartMotorControllerTelemetry
BatterySim - Class in yams.core.motorcontrollers.simulation: Battery Simulation that takes the entirety of the robot into account by storing all currently used currents on the robot.
between(Angle, Angle) - Method in class yams.commands2.mechanisms.Arm: Between two angles.
between(Angle, Angle) - Method in class yams.commands2.mechanisms.Pivot: Between two angles.
between(Angle, Angle) - Method in class yams.commands3.mechanisms.Arm: Between two angles.
between(Angle, Angle) - Method in class yams.commands3.mechanisms.Pivot: Between two angles.
between(AngularVelocity, AngularVelocity) - Method in class yams.commands2.mechanisms.FlyWheel: Between two velocities.
between(AngularVelocity, AngularVelocity) - Method in class yams.commands3.mechanisms.FlyWheel: Between two velocities.
between(Distance, Distance) - Method in class yams.commands2.mechanisms.Elevator: Between two heights.
between(Distance, Distance) - Method in class yams.commands3.mechanisms.Elevator: Between two heights.
BooleanTelemetry<F> - Class in yams.core.telemetry: Boolean Telemetry for SmartMotorControllers.
BooleanTelemetry(String, boolean, F, boolean) - Constructor for class yams.core.telemetry.BooleanTelemetry: Setup boolean telemetry for a field.
BRAKE - Enum constant in enum class yams.core.motorcontrollers.enums.MotorMode: Brake mode.
buildAlertId(String, int, String) - Method in class yams.core.motorcontrollers.SmartMotorController: Build a unique Alert identifier for this motor controller, for use once SmartMotorController.m_config has been assigned by the implementing constructor.
Builder Example - Section in class yams.core.mechanisms.config.DifferentialMechanismConfig

C

calculate(double, double) - Method in class yams.core.math.ExponentialProfilePIDController: Calculate the feedback, assuming no setpoint velocity.
calculate(double, double, double) - Method in class yams.core.math.ExponentialProfilePIDController: Calculate the feedback, assuming previous state velocity.
calculate(Angle, Angle, AngularVelocity) - Method in class yams.core.math.LQRController: Calculate the voltage for an Arm LQR
calculate(AngularVelocity, AngularVelocity) - Method in class yams.core.math.LQRController: Calculate the voltage for a Flywheel LQR
calculate(Distance, Distance, LinearVelocity) - Method in class yams.core.math.LQRController: Calculate the voltage for a Elevator LQR
calculate(LinearVelocity, LinearVelocity) - Method in class yams.core.math.LQRController: Calculate the voltage for a Flywheel LQR
calculateAngularVelocity(Angle) - Method in class yams.commands2.swerve.SwerveInputStream: Calculate the angular velocity that turns the robot to a heading, with the SwerveDrive's rotation controller and the SwerveInputStream.withAimFeedforward(SimpleMotorFeedforward) feedforward if there is one.
calculateAngularVelocity(Angle) - Method in class yams.commands3.swerve.SwerveInputStream: Calculate the angular velocity that turns the robot to a heading, with the SwerveDrive's rotation controller and the SwerveInputStream.withAimFeedforward(SimpleMotorFeedforward) feedforward if there is one.
calculateVoltage(UUID, double) - Static method in class yams.core.motorcontrollers.simulation.BatterySim: Calculate the voltage based on the currents used by the robot.
calculateVoltage(UUID, Current) - Static method in class yams.core.motorcontrollers.simulation.BatterySim: Calculate the voltage based on the currents used by the robot.
CANcoder discontinuity - Section in package yams.core.motorcontrollers.remote
Chain - Static variable in class yams.core.units.YUnits: 20.1168 (Except in India, where it is 20 meters) Units.Meterss, or 66 Units.Feet.
Chains - Static variable in class yams.core.units.YUnits: 20.1168 (Except in India, where it is 20 meters) Units.Meterss, or 66 Units.Feet.
checkConfigSafety() - Method in class yams.core.motorcontrollers.SmartMotorController: Check config for safe values.
Class Overview - Section in package yams.core.math
clearFollowers() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Clear the follower motors so they are not reapplied
clone() - Method in class yams.commands2.config.SmartMotorControllerConfig
clone() - Method in class yams.commands2.config.SwerveDriveConfig: Clone the SwerveDriveConfig without modules, subsystem, telemetry name, gyro supplier, gyro angular velocity supplier, gyro offset, and gyro inversion.
clone() - Method in class yams.commands2.swerve.SwerveInputStream
clone() - Method in class yams.commands3.config.SmartMotorControllerConfig
clone() - Method in class yams.commands3.config.SwerveDriveConfig: Clone the SwerveDriveConfig without modules, mechanism, telemetry name, gyro supplier, gyro angular velocity supplier, gyro offset, and gyro inversion.
clone() - Method in class yams.commands3.swerve.SwerveInputStream
clone() - Method in class yams.core.mechanisms.config.ArmConfig
clone() - Method in class yams.core.mechanisms.config.DifferentialMechanismConfig
clone() - Method in class yams.core.mechanisms.config.ElevatorConfig
clone() - Method in class yams.core.mechanisms.config.FlyWheelConfig
clone() - Method in class yams.core.mechanisms.config.PivotConfig
clone() - Method in class yams.core.mechanisms.config.SwerveDriveConfig: Clone the SwerveDriveConfig without modules, subsystem, telemetry name, gyro supplier, gyro angular velocity supplier, gyro offset, and gyro inversion.
clone() - Method in class yams.core.mechanisms.config.SwerveModuleConfig
clone() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig
close() - Method in class yams.commands2.telemetry.SwerveInputStreamTelemetry: Stop publishing this stream's telemetry, canceling and removing the Live Tuning command.
close() - Method in class yams.commands3.telemetry.SwerveInputStreamTelemetry: Stop publishing this stream's telemetry, canceling and removing the Live Tuning command.
close() - Method in class yams.core.motorcontrollers.local.SparkWrapper
close() - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
close() - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper
close() - Method in class yams.core.motorcontrollers.SmartMotorController: Close the SMC for unit testing.
close() - Method in class yams.core.telemetry.BooleanTelemetry: Close the telemetry field.
close() - Method in class yams.core.telemetry.DoubleTelemetry: Close the telemetry field.
close() - Method in class yams.core.telemetry.SmartMotorControllerTelemetry: Close and unpublish telemetry.
close() - Method in class yams.core.telemetry.StructArrayTelemetry: Close the telemetry field.
close() - Method in class yams.core.telemetry.StructTelemetry: Close the telemetry field.
close() - Method in class yams.core.telemetry.SwerveDriveTelemetry: Close and unpublish telemetry.
close() - Method in class yams.core.telemetry.SwerveModuleTelemetry: Close and unpublish telemetry.
CLOSED_LOOP - Enum constant in enum class yams.core.motorcontrollers.enums.ControlMode: Use the PID controller.
ClosedLoopPeriod - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: Period the closed loop controller runs at: 1 ms on the motor controller, or the closed loop control period on the SystemCore.
ClosedloopRampRate - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: Closed loop dutycyle ramp rate.
COAST - Enum constant in enum class yams.core.motorcontrollers.enums.MotorMode: Coast mode.
commandExists(String, Subsystem) - Static method in class yams.commands2.telemetry.SmartMotorControllerCommandRegistry: Check if a command exists.
commandExists(String, Mechanism) - Static method in class yams.commands3.telemetry.SmartMotorControllerCommandRegistry: Check if a command exists.
CommandMechanism - Interface in yams.commands2.mechanisms: Shared duty-cycle/voltage Command factories for command-layer mechanisms.
CommandMechanism - Interface in yams.commands3.mechanisms: Shared duty-cycle/voltage Command factories for command-layer mechanisms.
CommandTunable - Class in yams.commands3.telemetry: Adapts an Command for publishing to NetworkTables via Tunables.
CommandTunable(Command) - Constructor for class yams.commands3.telemetry.CommandTunable: Wrap a Command for publishing to NetworkTables.
Configuration Example - Section in class yams.core.mechanisms.config.ArmConfig
Configuration Example - Section in class yams.core.mechanisms.config.ElevatorConfig
Configuration Example - Section in class yams.core.mechanisms.config.FlyWheelConfig
Configuration Example - Section in class yams.core.mechanisms.config.PivotConfig
Configuration Example - Section in class yams.core.mechanisms.config.SwerveModuleConfig
Construction - Section in package yams.core.motorcontrollers.local
Construction - Section in package yams.core.motorcontrollers.remote
Construction Example - Section in class yams.core.mechanisms.positional.DoubleJointedArm
Control Examples - Section in class yams.commands2.mechanisms.DoubleJointedArm
Control Examples - Section in class yams.commands3.mechanisms.DoubleJointedArm
ControlMode - Enum Class in yams.core.motorcontrollers.enums: Control mode for a motor controller.
convert(boolean) - Static method in class yams.core.motorcontrollers.simulation.SensorData: Convert a boolean into a HALValue.
convert(double) - Static method in class yams.core.motorcontrollers.simulation.SensorData: Convert a double into a HALValue.
convert(int) - Static method in class yams.core.motorcontrollers.simulation.SensorData: Convert an int into a HALValue.
convert(long) - Static method in class yams.core.motorcontrollers.simulation.SensorData: Convert a long into a HALValue.
convert(BooleanSupplier) - Static method in class yams.core.motorcontrollers.simulation.SensorData: Convert a BooleanSupplier into a Supplier<org.wpilib.hardware.hal.HALValue>.
convert(DoubleSupplier) - Static method in class yams.core.motorcontrollers.simulation.SensorData: Convert a DoubleSupplier into a Supplier<org.wpilib.hardware.hal.HALValue>.
convert(IntSupplier) - Static method in class yams.core.motorcontrollers.simulation.SensorData: Convert an IntSupplier into a Supplier<org.wpilib.hardware.hal.HALValue>.
convert(LongSupplier) - Static method in class yams.core.motorcontrollers.simulation.SensorData: Convert a LongSupplier into a Supplier<org.wpilib.hardware.hal.HALValue>.
convertFromMechanism(Angle) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Convert Angle to Distance using SmartMotorControllerConfig.mechanismCircumference
convertFromMechanism(AngularAcceleration) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Convert Angle to LinearAcceleration using SmartMotorControllerConfig.mechanismCircumference
convertFromMechanism(AngularVelocity) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Convert Angle to LinearVelocity using SmartMotorControllerConfig.mechanismCircumference
convertFromMechanism(Velocity) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Convert org.wpilib.units.measure.Velocity<org.wpilib.units.AngularAccelerationUnit> to org.wpilib.units.measure.Velocity<org.wpilib.units.LinearAccelerationUnit> using the SmartMotorControllerConfig.mechanismCircumference
convertToCurrent(DCMotor, Force) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Convert a feedforward Force applied at the mechanism into the equivalent motor feedforward Current, using SmartMotorControllerConfig.gearing and SmartMotorControllerConfig.mechanismCircumference.
convertToMechanism(Distance) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Convert Distance to Angle using SmartMotorControllerConfig.mechanismCircumference
convertToMechanism(LinearAcceleration) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Convert LinearAcceleration to AngularAcceleration using the SmartMotorControllerConfig.mechanismCircumference
convertToMechanism(LinearVelocity) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Convert LinearVelocity to AngularVelocity using the SmartMotorControllerConfig.mechanismCircumference
convertToMechanism(Velocity) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Convert org.wpilib.units.measure.Velocity<org.wpilib.units.LinearAccelerationUnit> to org.wpilib.units.measure.Velocity<org.wpilib.units.AngularAccelerationUnit> using the SmartMotorControllerConfig.mechanismCircumference
convertToVoltage(DCMotor, Force) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Convert a feedforward Force applied at the mechanism into the equivalent motor feedforward Voltage, using SmartMotorControllerConfig.gearing and SmartMotorControllerConfig.mechanismCircumference.
Core Classes - Section in package yams.core.gearing
Core type - Section in package yams.core.motorcontrollers.local
Core types - Section in package yams.core.motorcontrollers
Core types - Section in package yams.core.motorcontrollers.remote
create() - Method in enum class yams.core.telemetry.SmartMotorControllerTelemetry.BooleanTelemetryField: Create a BooleanTelemetry object for non-static usage.
create() - Method in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: Create double telemetry field.
create() - Method in enum class yams.core.telemetry.SwerveDriveTelemetry.BooleanTelemetryField: Create a BooleanTelemetry object for non-static usage.
create() - Method in enum class yams.core.telemetry.SwerveDriveTelemetry.DoubleTelemetryField: Create a DoubleTelemetry object for non-static usage.
create() - Method in enum class yams.core.telemetry.SwerveDriveTelemetry.StructArrayTelemetryField: Create a StructArrayTelemetry object for non-static usage.
create() - Method in enum class yams.core.telemetry.SwerveDriveTelemetry.StructTelemetryField: Create a StructTelemetry object for non-static usage.
create() - Method in enum class yams.core.telemetry.SwerveModuleTelemetry.DoubleTelemetryField: Create a DoubleTelemetry object for non-static usage.
create() - Method in enum class yams.core.telemetry.SwerveModuleTelemetry.StructTelemetryField: Create a StructTelemetry object for non-static usage.
create(Object, DCMotor, SmartMotorControllerConfig) - Static method in class yams.core.motorcontrollers.SmartMotorController: Create a SmartMotorController wrapper from the provided motor controller object.
createArmConstraints(Voltage, DCMotor, Mass, Distance, MechanismGearing) - Static method in class yams.core.math.ExponentialProfilePIDController: Get the ExponentialProfile.Constraints for an arm.
createArmConstraints(Voltage, DCMotor, MomentOfInertia, MechanismGearing) - Static method in class yams.core.math.ExponentialProfilePIDController: Get the ExponentialProfile.Constraints for an arm.
createConstraints(Voltage, AngularVelocity, AngularAcceleration) - Static method in class yams.core.math.ExponentialProfilePIDController: Create a generic constraints object.
createElevatorConstraints(Voltage, DCMotor, Mass, Distance, MechanismGearing) - Static method in class yams.core.math.ExponentialProfilePIDController: Get the ExponentialProfile.Constraints for an elevator.
createFlywheelConstraints(Voltage, DCMotor, Mass, Distance, MechanismGearing) - Static method in class yams.core.math.ExponentialProfilePIDController: Get the ExponentialProfile.Constraints for a flywheel.
createFlywheelConstraints(Voltage, DCMotor, MomentOfInertia, MechanismGearing) - Static method in class yams.core.math.ExponentialProfilePIDController: Get the ExponentialProfile.Constraints for a flywheel.
createValue(SimDevice, SimDevice.Direction) - Method in class yams.core.motorcontrollers.simulation.SensorData: Get the SimValue for the sensor.
cubeTranslation(Translation2d) - Static method in class yams.core.mechanisms.config.SwerveDriveConfig: Cube the Translation2d magnitude given in Polar coordinates.
Cubit - Static variable in class yams.core.units.YUnits: 457.2/1000 of a Units.Meters, or 18 Units.Inches.
Cubits - Static variable in class yams.core.units.YUnits: 457.2/1000 of a Units.Meters, or 18 Units.Inches.
CurrentModuleStates - Enum constant in enum class yams.core.telemetry.SwerveDriveTelemetry.StructArrayTelemetryField: Measured SwerveModuleVelocitys.
CurrentRobotRelativeChassisSpeeds - Enum constant in enum class yams.core.telemetry.SwerveDriveTelemetry.StructTelemetryField: Measured robot relative ChassisVelocities.
Custom NetworkTable path and telemetry config - Section in class yams.core.telemetry.SmartMotorControllerTelemetry

D

Days - Static variable in class yams.core.units.YUnits: 24 YUnits.Hours.
DCMotorSimSupplier - Class in yams.core.motorcontrollers.simulation: DCMotorSim Supplier simulates a generic DC motor load (flywheel, roller, or elevator) using WPILib's DCMotorSim.
DCMotorSimSupplier(DCMotorSim, SmartMotorController) - Constructor for class yams.core.motorcontrollers.simulation.DCMotorSimSupplier: Construct the DCMotorSim supplier
deadband(double) - Method in class yams.commands2.swerve.SwerveInputStream: Set the deadband applied to every controller axis.
deadband(double) - Method in class yams.commands3.swerve.SwerveInputStream: Set the deadband applied to every controller axis.
derivative(double) - Method in class yams.core.math.DerivativeTimeFilter: Get the derivative of the current value over the time since the last call to this function.
derivative(double, Time) - Method in class yams.core.math.DerivativeTimeFilter: Get the derivative of the current value over the specified delta.
DerivativeTimeFilter - Class in yams.core.math: Find the derivative of a value over time in microseconds.
DerivativeTimeFilter(double, Time) - Constructor for class yams.core.math.DerivativeTimeFilter: Create a derivative filter with an initial value
DerivativeTimeFilter(Time) - Constructor for class yams.core.math.DerivativeTimeFilter: Create a derivative filter with no initial value
DesiredModuleStates - Enum constant in enum class yams.core.telemetry.SwerveDriveTelemetry.StructArrayTelemetryField: Last-commanded desired SwerveModuleVelocitys.
DesiredRobotRelativeChassisSpeeds - Enum constant in enum class yams.core.telemetry.SwerveDriveTelemetry.StructTelemetryField: Last-commanded desired robot relative ChassisVelocities.
DifferentialMechanism - Class in yams.commands2.mechanisms: Command-based extension of DifferentialMechanism that adds the Subsystem binding and Command/Trigger factories.
DifferentialMechanism - Class in yams.commands3.mechanisms: Command-based extension of DifferentialMechanism that adds the Mechanism binding and Command factories.
DifferentialMechanism - Class in yams.core.mechanisms.positional: A differential mechanism for FRC robots driven by two coordinated motors whose combined motion produces two distinct and independent outputs.
DifferentialMechanism(DifferentialMechanismConfig) - Constructor for class yams.commands2.mechanisms.DifferentialMechanism: Constructor for the Differential mechanism.
DifferentialMechanism(DifferentialMechanismConfig) - Constructor for class yams.commands3.mechanisms.DifferentialMechanism: Constructor for the Differential mechanism.
DifferentialMechanism(DifferentialMechanismConfig) - Constructor for class yams.core.mechanisms.positional.DifferentialMechanism: Constructor for the Differential mechanism.
DifferentialMechanismConfig - Class in yams.core.mechanisms.config: Configuration for a DifferentialMechanism driven by two coordinated motors working differentially.
DifferentialMechanismConfig() - Constructor for class yams.core.mechanisms.config.DifferentialMechanismConfig: Differential Mechanism configuration class.
DifferentialMechanismConfig(SmartMotorController, SmartMotorController) - Constructor for class yams.core.mechanisms.config.DifferentialMechanismConfig: Differential Mechanism configuration class.
DifferentialMechanismConfigurationException - Exception Class in yams.core.exceptions: Thrown by DifferentialMechanism or DifferentialMechanismConfig when a required field is missing or an attempt is made to violate a config invariant.
DifferentialMechanismConfigurationException(String, String, String) - Constructor for exception class yams.core.exceptions.DifferentialMechanismConfigurationException: Differential Mechanism configuration exception.
Direct instantiation (advanced) - Section in class yams.core.mechanisms.swerve.SwerveModule
disable() - Method in class yams.core.telemetry.BooleanTelemetry: Disable the telemetry.
disable() - Method in class yams.core.telemetry.DoubleTelemetry: Disable the telemetry.
disable() - Method in class yams.core.telemetry.StructArrayTelemetry: Disable the telemetry.
disable() - Method in class yams.core.telemetry.StructTelemetry: Disable the telemetry.
disableDischarge() - Static method in class yams.core.motorcontrollers.simulation.BatterySim: Disable battery discharge simulation, reverting to a constant BatterySim.batteryVoltage and BatterySim.batteryResistance.
disableFOC() - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper: Disable FOC control, ignored if the device isn't PRO licensed.
disableFOC() - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper: Disable FOC control, ignored if the device isn't PRO licensed.
disableSpeedometerSimulation() - Method in class yams.core.mechanisms.config.FlyWheelConfig: Disable the use of the speedometer simulation for the shooter.
display(boolean) - Method in class yams.core.telemetry.BooleanTelemetry: Display the telemetry.
display(boolean) - Method in class yams.core.telemetry.DoubleTelemetry: Display the telemetry.
display(boolean) - Method in class yams.core.telemetry.StructArrayTelemetry: Display the telemetry.
display(boolean) - Method in class yams.core.telemetry.StructTelemetry: Display the telemetry.
div(double) - Method in class yams.core.gearing.GearBox: Divide the gear reduction ratio by X.
div(double) - Method in class yams.core.gearing.MechanismGearing: Divide the gearbox reduction ratio by i.
div(double) - Method in class yams.core.gearing.Sprocket: Divide the sprocket reduction ratio by X.
DoubleJointedArm - Class in yams.commands2.mechanisms: Command-based extension of DoubleJointedArm that adds the Subsystem binding and Command/Trigger factories.
DoubleJointedArm - Class in yams.commands3.mechanisms: Command-based extension of DoubleJointedArm that adds the Mechanism binding and Command factories.
DoubleJointedArm - Class in yams.core.mechanisms.positional: A two-segment arm where each joint has its own independent motor controller.
DoubleJointedArm(ArmConfig, SmartMotorController, ArmConfig, SmartMotorController) - Constructor for class yams.commands2.mechanisms.DoubleJointedArm: Constructor for the Arm mechanism.
DoubleJointedArm(ArmConfig, SmartMotorController, ArmConfig, SmartMotorController) - Constructor for class yams.commands3.mechanisms.DoubleJointedArm: Constructor for the Arm mechanism.
DoubleJointedArm(ArmConfig, SmartMotorController, ArmConfig, SmartMotorController) - Constructor for class yams.core.mechanisms.positional.DoubleJointedArm: Constructor for the Arm mechanism.
DoubleJointedArmConfigurationException - Exception Class in yams.core.exceptions: Thrown by DoubleJointedArm when a required field in the lower-joint or upper-joint ArmConfig is missing or invalid.
DoubleJointedArmConfigurationException(String, String, String) - Constructor for exception class yams.core.exceptions.DoubleJointedArmConfigurationException: Arm configuration exception.
DoubleTelemetry<F> - Class in yams.core.telemetry: Double Telemetry for SmartMotorControllers.
DoubleTelemetry(String, double, F, boolean, String) - Constructor for class yams.core.telemetry.DoubleTelemetry: Setup double telemetry for a field.
drive(Supplier) - Method in class yams.commands2.swerve.SwerveDrive: Create a Command to drive the swerve drive with robot relative chassis speeds.
drive(Supplier) - Method in class yams.commands3.swerve.SwerveDrive: Create a Command to drive the swerve drive with robot relative chassis speeds.
driveToPose(Pose2d) - Method in class yams.commands2.swerve.SwerveDrive: Drive the robot to the given pose.
driveToPose(Pose2d) - Method in class yams.commands3.swerve.SwerveDrive: Drive the robot to the given pose.
driveToPose(Pose2d, Distance, Angle) - Method in class yams.commands2.swerve.SwerveDrive: Drive the robot to the given pose, ending once the robot is within the given tolerances.
driveToPose(Pose2d, Distance, Angle) - Method in class yams.commands3.swerve.SwerveDrive: Drive the robot to the given pose, ending once the robot is within the given tolerances.
driveToPoseSetpoint(Pose2d) - Method in class yams.core.mechanisms.swerve.SwerveDrive: Drive to the target pose, primarily for use in Live Tuning, could also be used for setpoint commands.
driveToPoseSetpoint(Pose2d, Pose2d, Rotation2d) - Method in class yams.core.mechanisms.swerve.SwerveDrive: Drive to the target pose from a given pose, e.g.

E

EasyCRT - Class in yams.core.units: Finds the absolute angle of a gear that turns more than once, from two absolute encoders on pinions with different tooth counts that both mesh with it.
EasyCRT(int, int, int) - Constructor for class yams.core.units.EasyCRT: Create a solver from the tooth counts of the three gears.
Elevator - Class in yams.commands2.mechanisms: Command-based extension of Elevator that adds the Subsystem binding and Command/Trigger factories.
Elevator - Class in yams.commands3.mechanisms: Command-based extension of Elevator that adds the Mechanism binding and Command/Trigger factories.
Elevator - Class in yams.core.mechanisms.positional: Elevator mechanism.
Elevator(ElevatorConfig, SmartMotorController) - Constructor for class yams.commands2.mechanisms.Elevator: Construct the Elevator class for easy manipulation of an elevator.
Elevator(ElevatorConfig, SmartMotorController) - Constructor for class yams.commands3.mechanisms.Elevator: Construct the Elevator class for easy manipulation of an elevator.
Elevator(ElevatorConfig, SmartMotorController) - Constructor for class yams.core.mechanisms.positional.Elevator: Construct the Elevator class for easy manipulation of an elevator.
ELEVATOR - Enum constant in enum class yams.core.math.LQRConfig.LQRType: Elevator LQR
ElevatorConfig - Class in yams.core.mechanisms.config: Elevator configuration class.
ElevatorConfig() - Constructor for class yams.core.mechanisms.config.ElevatorConfig: Elevator Configuration class
ElevatorConfigurationException - Exception Class in yams.core.exceptions: Thrown by Elevator when a required ElevatorConfig field is missing or invalid.
ElevatorConfigurationException(String, String, String) - Constructor for exception class yams.core.exceptions.ElevatorConfigurationException: Elevator configuration exception.
ElevatorFeedForward - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.BooleanTelemetryField: Elevator feedforward currently getting used.
ElevatorSimSupplier - Class in yams.core.motorcontrollers.simulation: ElevatorSim Supplier simulates an elevator mechanism using WPILib's ElevatorSim.
ElevatorSimSupplier(ElevatorSim, SmartMotorController) - Constructor for class yams.core.motorcontrollers.simulation.ElevatorSimSupplier: Construct the ElevatorSim supplier
enable() - Method in class yams.core.telemetry.BooleanTelemetry: Enable the telemetry.
enable() - Method in class yams.core.telemetry.DoubleTelemetry: Enable the telemetry.
enable() - Method in class yams.core.telemetry.StructArrayTelemetry: Enable the telemetry.
enable() - Method in class yams.core.telemetry.StructTelemetry: Enable the telemetry.
enableContinuousInput(double, double) - Method in class yams.core.math.ExponentialProfilePIDController: Enables continuous input.
enabled - Variable in class yams.core.telemetry.BooleanTelemetry: Enabled?
enabled - Variable in class yams.core.telemetry.DoubleTelemetry: Enabled?
enabled - Variable in class yams.core.telemetry.StructArrayTelemetry: Enabled?
enabled - Variable in class yams.core.telemetry.StructTelemetry: Enabled?
enableDischarge(double, Voltage, Resistance) - Static method in class yams.core.motorcontrollers.simulation.BatterySim: Enable realistic battery discharge simulation.
enableFOC() - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper: Enable FOC control, ignored if the device isn't PRO licensed.
enableFOC() - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper: Enable FOC control, ignored if the device isn't PRO licensed.
Enabling telemetry - Section in package yams.core.telemetry
Enabling via ArmConfig - Section in class yams.core.telemetry.MechanismTelemetry
Enabling via ElevatorConfig - Section in class yams.core.telemetry.MechanismTelemetry
EncoderInversion - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.BooleanTelemetryField: Encoder inversion.
ensureMechanismsTelemetryBackend() - Static method in class yams.core.telemetry.NetworkTablesBackends: Ensure a TelemetryRegistry backend is registered at /Mechanisms that publishes directly to that NetworkTables root, for TelemetryLoggable objects such as Mechanism2d.
ensureMechanismsTunableBackend() - Static method in class yams.core.telemetry.NetworkTablesBackends: Ensure a TunableRegistry backend is registered at /Mechanisms that publishes directly to that NetworkTables root, for ComplexTunable objects such as Field2d or on-dashboard Commands.
ensureTuningTunableBackend() - Static method in class yams.core.telemetry.NetworkTablesBackends: Ensure a TunableRegistry backend is registered at /Tuning that publishes directly to that NetworkTables root, for ComplexTunable on-dashboard Commands such as the Live Tuning command.
Example - Section in class yams.commands2.config.SmartMotorControllerConfig
Example - Section in class yams.commands3.config.SmartMotorControllerConfig
Example - Section in class yams.core.gearing.GearBox
Example - Section in class yams.core.gearing.MechanismGearing
Example - Section in class yams.core.gearing.Sprocket
Example - Section in class yams.core.math.DerivativeTimeFilter
Example - Section in class yams.core.math.SmartMath
Example - Section in class yams.core.mechanisms.SmartMechanism
Example - Section in class yams.core.mechanisms.config.MechanismPositionConfig
Example - Section in class yams.core.mechanisms.config.SensorConfig
Example - Section in class yams.core.motorcontrollers.SmartMotorController
Example - Section in class yams.core.motorcontrollers.SmartMotorControllerConfig
Example - Section in class yams.core.motorcontrollers.local.NovaWrapper
Example - Section in class yams.core.motorcontrollers.local.SparkWrapper
Example - Section in class yams.core.motorcontrollers.remote.TalonFXSWrapper
Example - Section in class yams.core.motorcontrollers.remote.TalonFXWrapper
Example - Section in class yams.core.motorcontrollers.simulation.ArmSimSupplier
Example - Section in class yams.core.motorcontrollers.simulation.DCMotorSimSupplier
Example - Section in class yams.core.motorcontrollers.simulation.ElevatorSimSupplier
Example - Section in class yams.core.motorcontrollers.simulation.Sensor
Example - Section in class yams.core.motorcontrollers.simulation.SensorData
Example - Section in class yams.core.telemetry.BooleanTelemetry
Example - Section in class yams.core.telemetry.DoubleTelemetry
Example - Section in class yams.core.telemetry.SmartMotorControllerTelemetryConfig
Example - Section in class yams.core.telemetry.StructArrayTelemetry
Example - Section in class yams.core.telemetry.StructTelemetry
Example - Section in class yams.core.telemetry.SwerveDriveTelemetryConfig
Example - Section in class yams.core.telemetry.SwerveModuleTelemetryConfig
Example - Section in class yams.core.units.YUnits
Example - Section in package yams.commands3.config
Example Arm LQR configuration - Section in class yams.core.math.LQRConfig
Example arm position control - Section in class yams.core.math.ExponentialProfilePIDController
Example construct from LQRConfig and calculate arm voltage - Section in class yams.core.math.LQRController
Example Filtered Derivative - Section in package yams.core.math
Example LQR Setup - Section in package yams.core.math
Example Multi-Stage Gearbox - Section in package yams.core.gearing
Example Single-Stage 5:1 Reduction - Section in package yams.core.gearing
ExponentialProfileKA - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: Exponential profile kA
ExponentialProfileKV - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: Exponential profile kV
ExponentialProfileMaxInput - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: Exponential profile maxInput
ExponentialProfilePIDController - Class in yams.core.math: Exponential profile PID controller.
ExponentialProfilePIDController(double, double, double, ExponentialProfile.Constraints) - Constructor for class yams.core.math.ExponentialProfilePIDController: Constructor.
ExponentialProfilePIDController(PIDController, ExponentialProfile.Constraints) - Constructor for class yams.core.math.ExponentialProfilePIDController: Constructor.
ExternalEncoderPosition - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: External encoder's mechanism position in rotations, published only when an external encoder is defined.
ExternalEncoderVelocity - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: External encoder's mechanism velocity in rotations per second, published only when an external encoder is defined.

F

Fathom - Static variable in class yams.core.units.YUnits: 1.8288 Units.Meterss, or 6 Units.Feet.
Fathoms - Static variable in class yams.core.units.YUnits: 1.8288 Units.Meterss, or 6 Units.Feet.
feedInput() - Method in interface yams.core.motorcontrollers.SimSupplier: Feed input
feedInput() - Method in class yams.core.motorcontrollers.simulation.ArmSimSupplier
feedInput() - Method in class yams.core.motorcontrollers.simulation.DCMotorSimSupplier
feedInput() - Method in class yams.core.motorcontrollers.simulation.ElevatorSimSupplier
feedUpdateSim() - Method in interface yams.core.motorcontrollers.SimSupplier: Feed the update sim watch
feedUpdateSim() - Method in class yams.core.motorcontrollers.simulation.ArmSimSupplier
feedUpdateSim() - Method in class yams.core.motorcontrollers.simulation.DCMotorSimSupplier
feedUpdateSim() - Method in class yams.core.motorcontrollers.simulation.ElevatorSimSupplier
FieldRelativeChassisSpeeds - Enum constant in enum class yams.core.telemetry.SwerveDriveTelemetry.StructTelemetryField: Measured field relative ChassisVelocities.
Fluent Chaining Example - Section in package yams.commands2.config
Fluent Chaining Example - Section in package yams.core.mechanisms.config
FlyWheel - Class in yams.commands2.mechanisms: Command-based extension of FlyWheel that adds the Subsystem binding and Command/Trigger factories.
FlyWheel - Class in yams.commands3.mechanisms: Command-based extension of FlyWheel that adds the Mechanism binding and Command/Trigger factories.
FlyWheel - Class in yams.core.mechanisms.velocity: FlyWheel mechanism.
FlyWheel(FlyWheelConfig, SmartMotorController) - Constructor for class yams.commands2.mechanisms.FlyWheel: Construct the FlyWheel class
FlyWheel(FlyWheelConfig, SmartMotorController) - Constructor for class yams.commands3.mechanisms.FlyWheel: Construct the FlyWheel class
FlyWheel(FlyWheelConfig, SmartMotorController) - Constructor for class yams.core.mechanisms.velocity.FlyWheel: Construct the FlyWheel class
FLYWHEEL - Enum constant in enum class yams.core.math.LQRConfig.LQRType: Flywheel LQR
FlyWheelConfig - Class in yams.core.mechanisms.config: FlyWheel configuration class.
FlyWheelConfig() - Constructor for class yams.core.mechanisms.config.FlyWheelConfig: FlyWheel Configuration class
FlyWheelConfigurationException - Exception Class in yams.core.exceptions: Thrown by FlyWheel or FlyWheelConfig when a required field in FlyWheelConfig is missing or invalid.
FlyWheelConfigurationException(String, String, String) - Constructor for exception class yams.core.exceptions.FlyWheelConfigurationException: FlyWheel configuration exception.
FootlongSandwich - Static variable in class yams.core.units.YUnits: 1 Units.Feet, or Sandwich
forceConfigApply() - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper: Ensure setting is applied, retries every 10ms.
forceConfigApply() - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper: Ensure setting is applied, retries every 10ms.
forceConfigApply(SlotConfigs) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper: Apply part of the Talon's config, such as only a slot's gains, which uses less of the CAN bus than applying all of it, retrying silently for up to 15 ms.
forceSet(boolean) - Method in class yams.core.telemetry.BooleanTelemetry: Forcibly overwrite the tunable value in NetworkTables, bypassing the subscriber-must-match guard in BooleanTelemetry.set(boolean).
forceSet(double) - Method in class yams.core.telemetry.DoubleTelemetry: Forcibly overwrite the tunable value in NetworkTables, bypassing the subscriber-must-match guard in DoubleTelemetry.set(double).
For Subclass Authors - Section in class yams.core.mechanisms.positional.SmartPositionalMechanism
For Subclass Authors - Section in class yams.core.mechanisms.velocity.SmartVelocityMechanism
Fortnight - Static variable in class yams.core.units.YUnits: 2 YUnits.Weeks.
FPF - Static variable in class yams.core.units.YUnits: 1 YUnits.Furlongs per YUnits.Fortnight.
fromReductionStages(double...) - Static method in class yams.core.gearing.GearBox: Create the gearbox given the reduction stages of the gearbox.
fromStages(String...) - Static method in class yams.core.gearing.GearBox: Create the gearbox given the reduction stages of the gearbox.
fromStages(String...) - Static method in class yams.core.gearing.Sprocket: Construct the Sprocket with the reduction stages given.
fromTeeth(int...) - Static method in class yams.core.gearing.GearBox: Create the gearbox given the teeth of each gear in a train of meshing gears.
Furlong - Static variable in class yams.core.units.YUnits: 201.168 Units.Meterss, or 10 YUnits.Chains.
Furlongs - Static variable in class yams.core.units.YUnits: 201.168 Units.Meterss, or 10 YUnits.Chains.
FurlongsPerFortnight - Static variable in class yams.core.units.YUnits: 1 YUnits.Furlongs per YUnits.Fortnight.

G

gearBox(double...) - Static method in class yams.core.math.SmartMath: Create the gear ratio based off of the stages in the gear box.
GearBox - Class in yams.core.gearing: GearBox class to calculate input and output conversion factors and check if the current configuration is supported.
GearBox(double[]) - Constructor for class yams.core.gearing.GearBox: Construct the GearBox with the reduction stages given.
GearBox(String[]) - Constructor for class yams.core.gearing.GearBox: Construct the GearBox with the reduction stages given.
Gear Stage Exceptions - Section in package yams.core.exceptions
get() - Method in class yams.commands2.swerve.SwerveInputStream
get() - Method in class yams.commands3.swerve.SwerveInputStream
get() - Method in class yams.core.telemetry.BooleanTelemetry: Get the value.
get() - Method in class yams.core.telemetry.DoubleTelemetry: Get the value.
get() - Method in class yams.core.telemetry.StructArrayTelemetry: Get the value.
get() - Method in class yams.core.telemetry.StructTelemetry: Get the value.
getAbsoluteEncoderAngle() - Method in class yams.core.mechanisms.config.SwerveModuleConfig: Get the absolute encoder angle for the azimuth SmartMotorController.
getAbsoluteEncoderSupplier() - Method in class yams.core.mechanisms.config.SwerveModuleConfig: Get the absolute encoder supplier
getAngle() - Method in class yams.core.mechanisms.config.ElevatorConfig: Get the Angle of the Elevator
getAngle() - Method in class yams.core.mechanisms.positional.Arm: Get the SmartMotorController Mechanism Position representing the arm.
getAngle() - Method in class yams.core.mechanisms.positional.Pivot: Get the SmartMotorController Mechanism Position representing the pivot.
getAngleDifferenceFromPose(Pose2d) - Method in class yams.core.mechanisms.swerve.SwerveDrive: Get the angle difference between the robot's current pose and the given pose.
getAnglesForPosition(Translation2d, boolean) - Method in class yams.core.mechanisms.positional.DoubleJointedArm: Inverse Kinematics for a DoubleJointedArm
getAngularVelocity(LinearVelocity) - Method in class yams.core.mechanisms.config.FlyWheelConfig: Get the AngularVelocity of the FlyWheel given a LinearVelocity
getAntiTippingCorrection() - Method in class yams.core.mechanisms.config.SwerveDriveConfig: Get the anti-tipping correction for the robot's attitude now.
getArmConfig() - Method in class yams.core.mechanisms.positional.Arm: Get the ArmConfig for this Arm.
getArmFeedforward(SmartMotorController.ClosedLoopControllerSlot) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Get the ArmFeedforward if it is set.
getAsBoolean() - Method in class yams.core.motorcontrollers.simulation.SensorData: Get the sensor value as a boolean.
getAsBoolean(String) - Method in class yams.core.motorcontrollers.simulation.Sensor: Get a field from the simulated or real sensor.
getAsDouble() - Method in class yams.core.motorcontrollers.simulation.SensorData: Get the sensor value as a double.
getAsDouble(String) - Method in class yams.core.motorcontrollers.simulation.Sensor: Get a field from the simulated or real sensor.
getAsInt() - Method in class yams.core.motorcontrollers.simulation.SensorData: Get the sensor value as an int.
getAsInt(String) - Method in class yams.core.motorcontrollers.simulation.Sensor: Get a field from the simulated or real sensor.
getAsLong() - Method in class yams.core.motorcontrollers.simulation.SensorData: Get the sensor value as a long.
getAsLong(String) - Method in class yams.core.motorcontrollers.simulation.Sensor: Get a field from the simulated or real sensor.
getAttachedController() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Get the SmartMotorController this config was attached to via SmartMotorControllerConfig.attachController(SmartMotorController), if any.
getAxisDeadband() - Method in class yams.commands2.swerve.SwerveInputStream: Get the controller axis deadband.
getAxisDeadband() - Method in class yams.commands3.swerve.SwerveInputStream: Get the controller axis deadband.
getAzimuthMotor() - Method in class yams.core.mechanisms.config.SwerveModuleConfig: Get the azimuth SmartMotorController for the SwerveModule.
getAzimuthMotorController() - Method in class yams.core.mechanisms.swerve.SwerveModule: Get the azimuth SmartMotorController.
getBoolFields() - Method in class yams.core.telemetry.SwerveDriveTelemetryConfig: Get the configured boolean fields.
getBoolFields(SmartMotorController) - Method in class yams.core.telemetry.SmartMotorControllerTelemetryConfig: Get the configured bool fields.
getCarriageMass() - Method in class yams.core.mechanisms.config.ElevatorConfig: Get the Mass of the Elevator carriage.
getCascadePose3d() - Method in class yams.core.mechanisms.positional.Elevator: Get the pose of each moving stage of a cascade elevator, for publishing to AdvantageScope as components of a robot model.
getCenterOfRotation() - Method in class yams.core.mechanisms.config.SwerveDriveConfig: Get the center of rotation.
getCircumference() - Method in class yams.core.mechanisms.config.FlyWheelConfig: Get the circumference of the FlyWheel.
getClosedLoopControllerMaximumVoltage() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Get the closed loop maximum voltage.
getClosedLoopControllerPeriod() - Method in class yams.core.motorcontrollers.SmartMotorController: Get the period the closed loop controller runs at.
getClosedLoopControllerSlot() - Method in class yams.core.motorcontrollers.SmartMotorController: Get the active closed loop controller slot.
getClosedLoopControlPeriod() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Get the period of the SmartMotorController closed loop period.
getClosedLoopRampRate() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Get the closed loop ramp rate.
getClosedLoopTolerance() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Get the SmartMotorController closed loop controller tolerance.
getCommand(String, Subsystem) - Static method in class yams.commands2.telemetry.SmartMotorControllerCommandRegistry: Get a registered command, such as the "Live Tuning" command, to schedule it from code.
getCommand(String, Mechanism) - Static method in class yams.commands3.telemetry.SmartMotorControllerCommandRegistry: Get a registered command, such as the "Live Tuning" command, to schedule it from code.
getConfig() - Method in class yams.core.math.LQRController: Get the LQRConfig for the LQR.
getConfig() - Method in class yams.core.mechanisms.positional.Elevator: Get the ElevatorConfig for this Elevator
getConfig() - Method in class yams.core.mechanisms.swerve.SwerveDrive: Get the SwerveDriveConfig of the drive.
getConfig() - Method in class yams.core.mechanisms.swerve.SwerveModule: Get the SwerveModuleConfig for the module.
getConfig() - Method in class yams.core.motorcontrollers.local.NovaWrapper
getConfig() - Method in class yams.core.motorcontrollers.local.SparkWrapper
getConfig() - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
getConfig() - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper
getConfig() - Method in class yams.core.motorcontrollers.SmartMotorController: Get the SmartMotorControllerConfig for the SmartMotorController
getConstraints() - Method in class yams.core.math.ExponentialProfilePIDController: Get the constraints.
getContinuousPose3d(boolean) - Method in class yams.core.mechanisms.positional.Elevator: Get the pose of each moving stage of a continuous elevator, for publishing to AdvantageScope as components of a robot model.
getContinuousWrapping() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Get the continuous wrapping point for the SmartMotorController encoder.
getContinuousWrappingMin() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Get the continuous wrapping point for the SmartMotorController encoder.
getContinuousWrappingSetpoint(Angle, Angle) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Get the position setpoint to command with continuous wrapping: the angle equivalent to setpoint, a whole number of wrapping ranges away, that is nearest current.
getCosineCompensationScalar(Rotation2d) - Method in class yams.core.mechanisms.config.SwerveModuleConfig: Get the cosine compensation factor for the given desired module angle, measured against the current azimuth angle.
getCouplingRatio() - Method in class yams.core.mechanisms.config.SwerveModuleConfig: Get the steer to drive coupling ratio.
getCouplingVelocity() - Method in class yams.core.mechanisms.swerve.SwerveModule: Wheel speed the drive gearing produces from the azimuth turning at its current rate.
getCurrentAngle() - Method in class yams.core.math.ExponentialProfilePIDController: Get the current angle.
getCurrentModeName() - Method in class yams.commands2.swerve.SwerveInputStream: Get the name of the drive mode used by the last SwerveInputStream.get() call.
getCurrentModeName() - Method in class yams.commands3.swerve.SwerveInputStream: Get the name of the drive mode used by the last SwerveInputStream.get() call.
getCurrentState() - Method in class yams.core.math.ExponentialProfilePIDController: Get the current state of the ExponentialProfile.
getCurrentVelocitySetpoint() - Method in class yams.core.math.ExponentialProfilePIDController: Get the current velocity from ExponentialProfile.
getD() - Method in class yams.core.math.ExponentialProfilePIDController: Get the Differential coefficient.
getDataLogName() - Method in class yams.core.telemetry.SmartMotorControllerTelemetryConfig: Get the entry name for the smart motor controller in DataLog.
getDataLogName() - Method in class yams.core.telemetry.SwerveDriveTelemetryConfig: Get the entry name for the SwerveDrive in DataLog.
getDataLogName() - Method in class yams.core.telemetry.SwerveModuleTelemetryConfig: Get the entry name for the SwerveModule in DataLog.
getDataTable() - Method in class yams.core.telemetry.MechanismTelemetry: Get the telemetry NetworkTable.
getDCMotor() - Method in class yams.core.motorcontrollers.local.NovaWrapper
getDCMotor() - Method in class yams.core.motorcontrollers.local.SparkWrapper
getDCMotor() - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
getDCMotor() - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper
getDCMotor() - Method in class yams.core.motorcontrollers.SmartMotorController: Get the DCMotor modeling the motor controlled by the motor controller.
getDefault() - Method in class yams.core.motorcontrollers.simulation.SensorData: Get the default value.
getDesiredChassisSpeeds() - Method in class yams.core.mechanisms.swerve.SwerveDrive: Get the last-commanded desired robot-relative ChassisVelocities of the drive.
getDesiredModuleStates() - Method in class yams.core.mechanisms.swerve.SwerveDrive: Get the last-commanded desired SwerveModuleVelocitys of the drive.
getDevice() - Method in class yams.core.motorcontrollers.simulation.Sensor: Get the simulated device.
getDiameter() - Method in class yams.core.mechanisms.config.FlyWheelConfig: Get the Length of the FlyWheel
getDifferentialMechanismConfig() - Method in class yams.core.mechanisms.positional.DifferentialMechanism: Get the DifferentialMechanismConfig for this mechanism.
getDiscretization() - Method in class yams.core.mechanisms.config.SwerveDriveConfig: Get the discretization time for the pose estimation used by SwerveDriveConfig.optimizeRobotRelativeChassisSpeeds(ChassisVelocities)
getDistanceFromPose(Pose2d) - Method in class yams.core.mechanisms.swerve.SwerveDrive: Get the Distance from the given pose to the robot.
getDoubleFields() - Method in class yams.core.telemetry.SwerveModuleTelemetryConfig: Get the configured double fields.
getDoubleFields(SwerveDrive) - Method in class yams.core.telemetry.SwerveDriveTelemetryConfig: Get the configured double fields.
getDoubleFields(SmartMotorController) - Method in class yams.core.telemetry.SmartMotorControllerTelemetryConfig: Get the configured double fields.
getDriveMotor() - Method in class yams.core.mechanisms.config.SwerveModuleConfig: Get the drive SmartMotorController for the SwerveModule.
getDriveMotorController() - Method in class yams.core.mechanisms.swerve.SwerveModule: Get the drive SmartMotorController.
getDutyCycle() - Method in class yams.core.motorcontrollers.local.NovaWrapper
getDutyCycle() - Method in class yams.core.motorcontrollers.local.SparkWrapper
getDutyCycle() - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
getDutyCycle() - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper
getDutyCycle() - Method in class yams.core.motorcontrollers.SmartMotorController: Get the duty cycle output of the motor controller.
getElevatorFeedforward(SmartMotorController.ClosedLoopControllerSlot) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Get the ElevatorFeedforward Optional
getEncoderInverted() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Get the encoder inversion state
getExponentialProfile() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Get the exponential profile for the closed loop controller on SmartMotorController.
getExponentialProfileState() - Method in class yams.core.motorcontrollers.SmartMotorController: Get the current encoder exponential profile state for the closed loop controller.
getExternalEncoder() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Get the external encoder.
getExternalEncoderDiscontinuityPoint() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Get the external encoder discontinuity point.
getExternalEncoderGearing() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Get the external encoder gearing, default is 1:1 on a MAXPlanetary.
getExternalEncoderInverted() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Get whether or not the external encoder is inverted.
getExternalEncoderMechanismPosition() - Method in class yams.core.motorcontrollers.local.NovaWrapper
getExternalEncoderMechanismPosition() - Method in class yams.core.motorcontrollers.local.SparkWrapper
getExternalEncoderMechanismPosition() - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
getExternalEncoderMechanismPosition() - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper
getExternalEncoderMechanismPosition() - Method in class yams.core.motorcontrollers.SmartMotorController: Get the mechanism Angle from the external (absolute) encoder, scaled by the configured external encoder MechanismGearing.
getExternalEncoderMechanismVelocity() - Method in class yams.core.motorcontrollers.local.NovaWrapper
getExternalEncoderMechanismVelocity() - Method in class yams.core.motorcontrollers.local.SparkWrapper
getExternalEncoderMechanismVelocity() - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
getExternalEncoderMechanismVelocity() - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper
getExternalEncoderMechanismVelocity() - Method in class yams.core.motorcontrollers.SmartMotorController: Get the mechanism AngularVelocity from the external (absolute) encoder, scaled by the configured external encoder MechanismGearing.
getExternalEncoderZeroOffset() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Get the zero offset for the SmartMotorController
getFeedbackSynchronizationThreshold() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Get the feedback synchronization threshold.
getField() - Method in class yams.core.telemetry.BooleanTelemetry: Get the field.
getField() - Method in class yams.core.telemetry.DoubleTelemetry: Get the field.
getField() - Method in class yams.core.telemetry.StructArrayTelemetry: Get the field.
getField() - Method in class yams.core.telemetry.StructTelemetry: Get the field.
getField(String) - Method in class yams.core.motorcontrollers.simulation.Sensor: Get a field from the simulated or real sensor.
getField2d() - Method in class yams.core.mechanisms.swerve.SwerveDrive: Get the Field2d used to display the robot's pose, so callers (e.g.
getFieldRelativeSpeed() - Method in class yams.core.mechanisms.swerve.SwerveDrive: Get the field relative speed of the drive.
getFields() - Method in class yams.core.mechanisms.config.SensorConfig: Get the list of Fields (SensorData) for this sensor.
getFollowers() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Get the follower motors to the SmartMotorControllerConfig
getGearing() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Get the gearing to convert rotor rotations to mechanisms rotations connected to the SmartMotorController
getGyroOffset() - Method in class yams.core.mechanisms.config.SwerveDriveConfig: Get the gyro offset.
getGyroRotation3d() - Method in class yams.core.mechanisms.config.SwerveDriveConfig: Get the robot's attitude from the gyro: the gyro's attitude rotated into the robot's frame for the axis set with SwerveDriveConfig.withGyroHeadingAxis(GyroAxis), with the inversion (SwerveDriveConfig.withGyroInverted(boolean)) and offset (SwerveDriveConfig.withGyroOffset(Angle)) applied to its yaw.
getGyroRotation3d() - Method in class yams.core.mechanisms.swerve.SwerveDrive: Get the robot's attitude from the gyro (see SwerveDriveConfig.getGyroRotation3d()): its yaw is the robot's heading.
getHeight() - Method in class yams.core.mechanisms.positional.Elevator: Get the Height of the Elevator.
getI() - Method in class yams.core.math.ExponentialProfilePIDController: Get the Integral coefficient.
getInitialPose() - Method in class yams.core.mechanisms.config.SwerveDriveConfig: Get the starting pose of the robot.
getInputToOutputConversionFactor() - Method in class yams.core.gearing.GearBox: Get the conversion factor to transform the gearbox input into the gear box output rotations.
getInputToOutputConversionFactor() - Method in class yams.core.gearing.Sprocket: Get the conversion factor to transform the sprocket input into the sprocket output rotations.
getIsElevatorHorizontal() - Method in class yams.core.mechanisms.config.ElevatorConfig: Get if the elevator is horizontal
getKa() - Method in class yams.core.math.ExponentialProfilePIDController: Get the acceleration gain kA
getKalmanFilter(LinearSystem) - Method in class yams.core.math.LQRConfig: Get the KalmanFilter for the LQR.
getKinematics() - Method in class yams.core.mechanisms.swerve.SwerveDrive: Create the SwerveDriveKinematics so you can recreate a new SwerveDrivePoseEstimator.
getKv() - Method in class yams.core.math.ExponentialProfilePIDController: Get the velocity gain as constant.
getLeftMechanismPosition(Angle, Angle) - Method in class yams.core.mechanisms.config.DifferentialMechanismConfig: The left SmartMotorController mechanism position.
getLeftMotorController() - Method in class yams.core.mechanisms.config.DifferentialMechanismConfig: Get the left SmartMotorController of the DifferentialMechanism
getLeftMotorController() - Method in class yams.core.mechanisms.positional.DifferentialMechanism: Get the left SmartMotorController of the mechanism.
getLength() - Method in class yams.core.mechanisms.config.ArmConfig: Get the Length of the Arm
getLength() - Method in class yams.core.mechanisms.config.DifferentialMechanismConfig: Get the length of the DifferentialMechanism
getLinearClosedLoopControllerUse() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: If the closed loop controller is linear or Distance based.
getLinearVelocity() - Method in class yams.core.mechanisms.velocity.FlyWheel: Get the LinearVelocity of the FlyWheel.
getLinearVelocity(AngularVelocity) - Method in class yams.core.mechanisms.config.FlyWheelConfig: Get the LinearVelocity of the FlyWheel given an AngularVelocity
getLiveTuningCommand() - Method in class yams.commands2.telemetry.SwerveInputStreamTelemetry: The Live Tuning command published to the dashboard, which applies dashboard edits while it runs.
getLiveTuningCommand() - Method in class yams.commands3.telemetry.SwerveInputStreamTelemetry: The Live Tuning command published to the dashboard, which applies dashboard edits while it runs.
getLocation() - Method in class yams.core.mechanisms.config.SwerveModuleConfig: Get the location of the SwerveModule in meters from the center of rotation.
getLockedState(Rotation2d, SwerveModuleVelocityWithAzimuth) - Method in class yams.core.mechanisms.config.SwerveModuleConfig: Get the state that turns the wheel to angle without driving it, as for locking the drive in place.
getLoop() - Method in class yams.core.math.LQRConfig: Get the LinearSystemLoop with the currently configured LQR.
getLoop(LinearSystem, LinearQuadraticRegulator, KalmanFilter) - Method in class yams.core.math.LQRConfig: Get the LinearSystemLoop.
getLooselyCoupledFollowers() - Method in class yams.core.motorcontrollers.SmartMotorController: Get the loosely coupled followers, which are sent the leader's setpoints and run their own closed loop controllers.
getLooselyCoupledFollowers() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Get the loosely coupled follower motors.
getLowerAngle() - Method in class yams.core.mechanisms.positional.DoubleJointedArm: Get the shoulder angle of the DoubleJointedArm.
getLowerArmConfig() - Method in class yams.core.mechanisms.positional.DoubleJointedArm: Get the lower (shoulder) ArmConfig.
getLowerHardLimit() - Method in class yams.core.mechanisms.config.ArmConfig: Get the lower hard limit of the Arm
getLowerHardLimit() - Method in class yams.core.mechanisms.config.PivotConfig: Get the lower hard limit of the Pivot
getLowerMotorController() - Method in class yams.core.mechanisms.positional.DoubleJointedArm: Get the lower (shoulder) SmartMotorController.
getLQRClosedLoopController() - Method in class yams.core.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.
getMaximumChassisAngularVelocity() - Method in class yams.commands2.swerve.SwerveInputStream: Get the chassis angular velocity a full angular velocity axis maps to.
getMaximumChassisAngularVelocity() - Method in class yams.commands3.swerve.SwerveInputStream: Get the chassis angular velocity a full angular velocity axis maps to.
getMaximumChassisAngularVelocity() - Method in class yams.core.mechanisms.config.SwerveDriveConfig: Get the maximum angular speed of the chassis.
getMaximumChassisLinearVelocity() - Method in class yams.commands2.swerve.SwerveInputStream: Get the chassis linear velocity a full translation axis maps to.
getMaximumChassisLinearVelocity() - Method in class yams.commands3.swerve.SwerveInputStream: Get the chassis linear velocity a full translation axis maps to.
getMaximumChassisLinearVelocity() - Method in class yams.core.mechanisms.config.SwerveDriveConfig: Get the maximum speed of the chassis.
getMaximumHeight() - Method in class yams.core.mechanisms.config.ElevatorConfig: Get the Upper hard limit of the Elevator: the maximum height from ElevatorConfig.withHardLimits(Distance, Distance), or the stage heights' total without hard limits, as the stages carry the carriage to the top.
getMaximumModuleLinearVelocity() - Method in class yams.core.mechanisms.config.SwerveDriveConfig: Get the maximum speed of the modules.
getMeasurementAcceleration() - Method in class yams.core.motorcontrollers.local.NovaWrapper: Get the usable measurement of the motor for mechanisms operating under distance units converted with the SmartMotorControllerConfig
getMeasurementAcceleration() - Method in class yams.core.motorcontrollers.local.SparkWrapper: Get the usable measurement of the motor for mechanisms operating under distance units converted with the SmartMotorControllerConfig
getMeasurementAcceleration() - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper: Get the usable measurement of the motor for mechanisms operating under distance units converted with the SmartMotorControllerConfig
getMeasurementAcceleration() - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper: Get the usable measurement of the motor for mechanisms operating under distance units converted with the SmartMotorControllerConfig
getMeasurementAcceleration() - Method in class yams.core.motorcontrollers.SmartMotorController: Get the usable measurement of the motor for mechanisms operating under distance units converted with the SmartMotorControllerConfig
getMeasurementPosition() - Method in class yams.core.motorcontrollers.local.NovaWrapper: Get the usable measurement of the motor for mechanisms operating under distance units converted with the SmartMotorControllerConfig.
getMeasurementPosition() - Method in class yams.core.motorcontrollers.local.SparkWrapper: Get the usable measurement of the motor for mechanisms operating under distance units converted with the SmartMotorControllerConfig.
getMeasurementPosition() - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper: Get the usable measurement of the motor for mechanisms operating under distance units converted with the SmartMotorControllerConfig.
getMeasurementPosition() - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper: Get the usable measurement of the motor for mechanisms operating under distance units converted with the SmartMotorControllerConfig.
getMeasurementPosition() - Method in class yams.core.motorcontrollers.SmartMotorController: Get the usable measurement of the motor for mechanisms operating under distance units converted with the SmartMotorControllerConfig.
getMeasurementPositionSetpoint() - Method in class yams.core.motorcontrollers.SmartMotorController: Get the Mechanism setpoint position as a Distance.
getMeasurementSetpoint() - Method in class yams.core.mechanisms.SmartMechanism: Get the SmartMechanism's setpoint as a Distance if it exists: the mechanism setpoint converted with the mechanism circumference.
getMeasurementVelocity() - Method in class yams.core.motorcontrollers.local.NovaWrapper: Get the usable measurement of the motor for mechanisms operating under distance units converted with the SmartMotorControllerConfig.
getMeasurementVelocity() - Method in class yams.core.motorcontrollers.local.SparkWrapper: Get the usable measurement of the motor for mechanisms operating under distance units converted with the SmartMotorControllerConfig.
getMeasurementVelocity() - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper: Get the usable measurement of the motor for mechanisms operating under distance units converted with the SmartMotorControllerConfig.
getMeasurementVelocity() - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper: Get the usable measurement of the motor for mechanisms operating under distance units converted with the SmartMotorControllerConfig.
getMeasurementVelocity() - Method in class yams.core.motorcontrollers.SmartMotorController: Get the usable measurement of the motor for mechanisms operating under distance units converted with the SmartMotorControllerConfig.
getMechanism() - Method in class yams.commands3.config.SmartMotorControllerConfig: Get the mechanism controlled by the SmartMotorController
getMechanism() - Method in class yams.commands3.config.SwerveDriveConfig: Get the swerve drive mechanism.
getMechanism() - Method in class yams.commands3.mechanisms.Arm
getMechanism() - Method in interface yams.commands3.mechanisms.CommandMechanism: Mechanism the mechanism's commands should require.
getMechanism() - Method in class yams.commands3.mechanisms.DifferentialMechanism
getMechanism() - Method in class yams.commands3.mechanisms.DoubleJointedArm
getMechanism() - Method in class yams.commands3.mechanisms.Elevator
getMechanism() - Method in class yams.commands3.mechanisms.FlyWheel
getMechanism() - Method in class yams.commands3.mechanisms.Pivot
getMechanism() - Method in class yams.commands3.swerve.SwerveDrive: Mechanism the drive's commands require.
getMechanismAcceleration() - Method in class yams.core.motorcontrollers.local.NovaWrapper
getMechanismAcceleration() - Method in class yams.core.motorcontrollers.local.SparkWrapper
getMechanismAcceleration() - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
getMechanismAcceleration() - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper
getMechanismAcceleration() - Method in class yams.core.motorcontrollers.SmartMotorController: Get the Mechanism AngularAcceleration, calculating it on the robot controller if necessary by taking the derivative of the velocity.
getMechanismCircumference() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Get the mechanism to distance ratio for the SmartMotorController
getMechanismLigament() - Method in class yams.core.mechanisms.positional.SmartPositionalMechanism: Get the ligament of the 2D mechanism model.
getMechanismLigament() - Method in class yams.core.mechanisms.velocity.SmartVelocityMechanism: Get the ligament of the 2D mechanism model.
getMechanismLowerLimit() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Lower limit of the mechanism.
getMechanismPosition() - Method in class yams.core.motorcontrollers.local.NovaWrapper
getMechanismPosition() - Method in class yams.core.motorcontrollers.local.SparkWrapper
getMechanismPosition() - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
getMechanismPosition() - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper
getMechanismPosition() - Method in interface yams.core.motorcontrollers.SimSupplier: Get the mechanism position.
getMechanismPosition() - Method in class yams.core.motorcontrollers.simulation.ArmSimSupplier
getMechanismPosition() - Method in class yams.core.motorcontrollers.simulation.DCMotorSimSupplier
getMechanismPosition() - Method in class yams.core.motorcontrollers.simulation.ElevatorSimSupplier: Get the mechanism position.
getMechanismPosition() - Method in class yams.core.motorcontrollers.SmartMotorController: Get the mechanism Angle taking the configured MechanismGearing from SmartMotorControllerConfig.
getMechanismPositionConfig() - Method in class yams.core.mechanisms.config.ArmConfig: Get the MechanismPositionConfig associated with this ArmConfig.
getMechanismPositionConfig() - Method in class yams.core.mechanisms.config.DifferentialMechanismConfig: Get the MechanismPositionConfig associated with this DifferentialMechanismConfig.
getMechanismPositionConfig() - Method in class yams.core.mechanisms.config.ElevatorConfig: Get the mechanism position configuration of the elevator.
getMechanismPositionConfig() - Method in class yams.core.mechanisms.config.FlyWheelConfig: Get the MechanismPositionConfig associated with this FlyWheelConfig.
getMechanismPositionConfig() - Method in class yams.core.mechanisms.config.PivotConfig: Get the MechanismPositionConfig associated with this PivotConfig.
getMechanismPositionSetpoint() - Method in class yams.core.motorcontrollers.SmartMotorController: Get the Mechanism setpoint position.
getMechanismRoot() - Method in class yams.core.mechanisms.positional.SmartPositionalMechanism: The root of the 2D mechanism model.
getMechanismRoot() - Method in class yams.core.mechanisms.velocity.SmartVelocityMechanism: The root of the 2D mechanism model.
getMechanismSetpoint() - Method in class yams.core.mechanisms.SmartMechanism: Get the SmartMechanism's setpoint as an Angle if it exists.
getMechanismSetpointVelocity() - Method in class yams.core.mechanisms.velocity.FlyWheel: Mechanism velocity setpoint.
getMechanismSetpointVelocity() - Method in class yams.core.motorcontrollers.SmartMotorController: Get the Mechanism velocity setpoint.
getMechanismStatorVoltage() - Method in interface yams.core.motorcontrollers.SimSupplier: Get the mechanism stator voltage.
getMechanismStatorVoltage() - Method in class yams.core.motorcontrollers.simulation.ArmSimSupplier
getMechanismStatorVoltage() - Method in class yams.core.motorcontrollers.simulation.DCMotorSimSupplier
getMechanismStatorVoltage() - Method in class yams.core.motorcontrollers.simulation.ElevatorSimSupplier
getMechanismSupplyVoltage() - Method in interface yams.core.motorcontrollers.SimSupplier: Gets the supply voltage for the motor controller.
getMechanismSupplyVoltage() - Method in class yams.core.motorcontrollers.simulation.ArmSimSupplier
getMechanismSupplyVoltage() - Method in class yams.core.motorcontrollers.simulation.DCMotorSimSupplier
getMechanismSupplyVoltage() - Method in class yams.core.motorcontrollers.simulation.ElevatorSimSupplier
getMechanismToRotorRatio() - Method in class yams.core.gearing.MechanismGearing: Get the mechanism rotation to sensor rotation ratio for the mechanism.
getMechanismUpperLimit() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Upper limit of the mechanism.
getMechanismVelocity() - Method in class yams.core.motorcontrollers.local.NovaWrapper
getMechanismVelocity() - Method in class yams.core.motorcontrollers.local.SparkWrapper
getMechanismVelocity() - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
getMechanismVelocity() - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper
getMechanismVelocity() - Method in interface yams.core.motorcontrollers.SimSupplier: Get the mechanism velocity.
getMechanismVelocity() - Method in class yams.core.motorcontrollers.simulation.ArmSimSupplier
getMechanismVelocity() - Method in class yams.core.motorcontrollers.simulation.DCMotorSimSupplier
getMechanismVelocity() - Method in class yams.core.motorcontrollers.simulation.ElevatorSimSupplier: Get the mechanism velocity.
getMechanismVelocity() - Method in class yams.core.motorcontrollers.SmartMotorController: Get the Mechanism AngularVelocity taking the configured MechanismGearing into the measurement applied via the SmartMotorControllerConfig.
getMechanismWindow() - Method in class yams.core.mechanisms.SmartMechanism: Get the Mechanism2d for the mechanism.
getMechanismX(Distance) - Method in class yams.core.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.core.mechanisms.config.MechanismPositionConfig: Gets the distance in the y-direction appropriate for visualizing on a Mechanism2d, defaults to the given distance.
getMinimumHeight() - Method in class yams.core.mechanisms.config.ElevatorConfig: Get the lower hard limit of the Elevator: the minimum height from ElevatorConfig.withHardLimits(Distance, Distance), or 0 without hard limits when the stages are set, as the stages start at the bottom.
getModule(String) - Method in class yams.core.mechanisms.swerve.SwerveDrive: Get a module by its name.
getModulePositions() - Method in class yams.core.mechanisms.swerve.SwerveDrive: Get the SwerveModulePosition of the modules.
getModules() - Method in class yams.core.mechanisms.config.SwerveDriveConfig: Get the SwerveModules for the SwerveDrive.
getModules() - Method in class yams.core.mechanisms.swerve.SwerveDrive: Get all SwerveModules for this SwerveDrive.
getModuleStateOptimization() - Method in class yams.core.mechanisms.config.SwerveDriveConfig: Get the module state optimization override.
getModuleStates() - Method in class yams.core.mechanisms.swerve.SwerveDrive: Get the SwerveModuleVelocity of the modules.
getMOI() - Method in class yams.core.mechanisms.config.DifferentialMechanismConfig: Get the moment of inertia for the DifferentialMechanism simulation.
getMOI() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Get the Moment of Inertia of the SmartMotorController's mechanism for the DCMotorSim.
getMotor() - Method in class yams.core.mechanisms.positional.SmartPositionalMechanism: Get the motor controller which is moving the mechanism.
getMotor() - Method in class yams.core.mechanisms.velocity.SmartVelocityMechanism: Get the motor controller which is moving the mechanism.
getMotorController() - Method in interface yams.commands2.mechanisms.CommandMechanism: Motor controller driving the mechanism.
getMotorController() - Method in interface yams.commands3.mechanisms.CommandMechanism: Motor controller driving the mechanism.
getMotorController() - Method in class yams.core.mechanisms.SmartMechanism: Get the SmartMotorController
getMotorController() - Method in class yams.core.motorcontrollers.local.NovaWrapper
getMotorController() - Method in class yams.core.motorcontrollers.local.SparkWrapper
getMotorController() - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
getMotorController() - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper
getMotorController() - Method in class yams.core.motorcontrollers.SmartMotorController: Get the Motor Controller Object passed into the SmartMotorController.
getMotorControllerConfig() - Method in class yams.core.motorcontrollers.local.NovaWrapper: Get the motor controller object config generated by SmartMotorController based off the SmartMotorControllerConfig
getMotorControllerConfig() - Method in class yams.core.motorcontrollers.local.SparkWrapper
getMotorControllerConfig() - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
getMotorControllerConfig() - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper
getMotorControllerConfig() - Method in class yams.core.motorcontrollers.SmartMotorController: Get the motor controller object config generated by SmartMotorController based off the SmartMotorControllerConfig
getMotorControllerMode() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Get the motor controller mode to use.
getMotorInverted() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Get the motor inversion state
getMountPose() - Method in class yams.core.mechanisms.config.MechanismPositionConfig: Where the mechanism is mounted: its parent's pose, or the robot's origin, moved and turned by its relative position.
getMovementPlane() - Method in class yams.core.mechanisms.config.MechanismPositionConfig: Get the plane that the mechanism is on.
getName() - Method in class yams.core.mechanisms.config.SensorConfig: Get the name of the sensor.
getName() - Method in class yams.core.mechanisms.positional.Arm
getName() - Method in class yams.core.mechanisms.positional.DifferentialMechanism
getName() - Method in class yams.core.mechanisms.positional.DoubleJointedArm
getName() - Method in class yams.core.mechanisms.positional.Elevator
getName() - Method in class yams.core.mechanisms.positional.Pivot
getName() - Method in class yams.core.mechanisms.SmartMechanism: Get the name of the mechanism.
getName() - Method in class yams.core.mechanisms.swerve.SwerveDrive: Get the name of the drive.
getName() - Method in class yams.core.mechanisms.swerve.SwerveModule: Get the name of the module.
getName() - Method in class yams.core.mechanisms.velocity.FlyWheel
getName() - Method in class yams.core.motorcontrollers.simulation.SensorData: Get the sensor name.
getName() - Method in class yams.core.motorcontrollers.SmartMotorController: Get the name of the SmartMotorController
getNextAngle() - Method in class yams.core.math.ExponentialProfilePIDController: Get the next angle from the ExponentialProfile
getNextState() - Method in class yams.core.math.ExponentialProfilePIDController: Get the next state of the ExponentialProfile.
getNextVelocitySetpoint() - Method in class yams.core.math.ExponentialProfilePIDController: Get the next velocity from ExponentialProfile
getNT4Enabled() - Method in class yams.core.telemetry.SmartMotorControllerTelemetryConfig: Log telemetry to NT4?
getNT4Enabled() - Method in class yams.core.telemetry.SwerveDriveTelemetryConfig: Log telemetry to NT4?
getNT4Enabled() - Method in class yams.core.telemetry.SwerveModuleTelemetryConfig: Log telemetry to NT4?
getOmegaAxisScale() - Method in class yams.commands2.swerve.SwerveInputStream: Get the angular velocity axis scalar.
getOmegaAxisScale() - Method in class yams.commands3.swerve.SwerveInputStream: Get the angular velocity axis scalar.
getOpenLoopRampRate() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Get the open loop ramp rate.
getOptimizedState(SwerveModuleVelocity) - Method in class yams.core.mechanisms.config.SwerveModuleConfig: Get the optimized SwerveModuleVelocity applying all optional optimizations, measuring the wheel with the azimuth motor controller.
getOptimizedState(SwerveModuleVelocity, SwerveModuleVelocityWithAzimuth) - Method in class yams.core.mechanisms.config.SwerveModuleConfig: Get the optimized SwerveModuleVelocity applying all optional optimizations.
getOutputToInputConversionFactor() - Method in class yams.core.gearing.GearBox: Get the conversion factor to transform the gearbox output value into the gear box input value.
getOutputToInputConversionFactor() - Method in class yams.core.gearing.Sprocket: Get the conversion factor to transform the sprocket output value into the sprocket input value.
getP() - Method in class yams.core.math.ExponentialProfilePIDController: Get the Proportional coefficient.
getPeriod() - Method in class yams.core.math.LQRConfig: Get the loop time for the LQR.
getPID(SmartMotorController.ClosedLoopControllerSlot) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Get the simple closed loop controller without motion profiling.
getPivotConfig() - Method in class yams.core.mechanisms.positional.Pivot: Get the PivotConfig object for this Pivot
getPose() - Method in class yams.core.mechanisms.swerve.SwerveDrive: Gets the measured pose (position and rotation) of the robot, as reported by odometry.
getPose3d() - Method in class yams.core.mechanisms.positional.Arm: Get the arm's pose, for publishing to AdvantageScope as a component of a robot model: where it is mounted, as set in its MechanismPositionConfig, turned to the arm's angle about the axis normal to its movement plane.
getPose3d() - Method in class yams.core.mechanisms.positional.DifferentialMechanism: Get the mechanism's pose, for publishing to AdvantageScope as a component of a robot model: where it is mounted, as set in its MechanismPositionConfig, tilted about the axis normal to its movement plane, then twisted about its own length.
getPose3d() - Method in class yams.core.mechanisms.positional.DoubleJointedArm: Get the lower arm's pose, for publishing to AdvantageScope as a component of a robot model: where it is mounted, as set in the lower arm's MechanismPositionConfig, turned to its angle.
getPose3d() - Method in class yams.core.mechanisms.positional.Elevator: Get the carriage's pose, for publishing to AdvantageScope as a component of a robot model: where the elevator is mounted, as set in its MechanismPositionConfig, moved up the elevator by its height, at the elevator's angle in its movement plane.
getPose3d() - Method in class yams.core.mechanisms.positional.Pivot: Get the pivot's pose, for publishing to AdvantageScope as a component of a robot model: where it is mounted, as set in its MechanismPositionConfig, turned to the pivot's angle about the axis normal to its movement plane.
getPose3d() - Method in class yams.core.mechanisms.SmartMechanism: Get the mechanism's pose relative to the robot, worked out from its motor's position and where it is mounted, as set in its MechanismPositionConfig.
getPose3d() - Method in class yams.core.mechanisms.velocity.FlyWheel: Get the flywheel's pose, for publishing to AdvantageScope as a component of a robot model: where its axle is mounted, as set in its MechanismPositionConfig, turned by the wheel's position about the axis normal to its movement plane.
getPosition() - Method in class yams.core.mechanisms.positional.DoubleJointedArm: Get the Translation2d of the double jointed arm.
getPosition() - Method in class yams.core.mechanisms.swerve.SwerveModule: Get the SwerveModulePosition of the module.
getPositionTolerance() - Method in class yams.core.math.ExponentialProfilePIDController: Returns the error tolerance of this controller.
getRawAbsoluteEncoderAngle() - Method in class yams.core.mechanisms.config.SwerveModuleConfig: Get the absolute encoder angle as a supplier without offsets applied.
getRawAbsoluteEncoderAngle() - Method in class yams.core.mechanisms.swerve.SwerveModule: Get the absolute encoder angle without any offsets applied.
getRegulator(LinearSystem) - Method in class yams.core.math.LQRConfig: Get the LinearQuadraticRegulator.
getRelativeMechanismPosition() - Method in class yams.core.motorcontrollers.local.NovaWrapper
getRelativeMechanismPosition() - Method in class yams.core.motorcontrollers.local.SparkWrapper
getRelativeMechanismPosition() - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
getRelativeMechanismPosition() - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper
getRelativeMechanismPosition() - Method in class yams.core.motorcontrollers.SmartMotorController: Get the mechanism Angle from the relative encoder in the motor, scaled by the configured MechanismGearing.
getRelativeMechanismVelocity() - Method in class yams.core.motorcontrollers.local.NovaWrapper
getRelativeMechanismVelocity() - Method in class yams.core.motorcontrollers.local.SparkWrapper
getRelativeMechanismVelocity() - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
getRelativeMechanismVelocity() - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper
getRelativeMechanismVelocity() - Method in class yams.core.motorcontrollers.SmartMotorController: Get the mechanism AngularVelocity from the relative encoder in the motor, scaled by the configured MechanismGearing.
getRelativePosition() - Method in class yams.core.mechanisms.config.MechanismPositionConfig: Get the relative position of the mechanism to the robot.
getResetPreviousConfig() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Reset the old config?
getRightMechanismPosition(Angle, Angle) - Method in class yams.core.mechanisms.config.DifferentialMechanismConfig: The right SmartMotorController mechanism position.
getRightMotorController() - Method in class yams.core.mechanisms.config.DifferentialMechanismConfig: Get the right SmartMotorController of the DifferentialMechanism
getRightMotorController() - Method in class yams.core.mechanisms.positional.DifferentialMechanism: Get the right SmartMotorController of the mechanism.
getRobotRelativeChassisSpeedsFromState(SwerveModuleVelocity[]) - Method in class yams.core.mechanisms.swerve.SwerveDrive: Get the ChassisVelocities based off the SwerveModuleVelocitys.
getRobotRelativeSpeed() - Method in class yams.core.mechanisms.swerve.SwerveDrive: Get the robot relative speed of the drive.
getRotatedPose(Angle) - Method in class yams.core.mechanisms.config.MechanismPositionConfig: The pose of a part that turns about the axis normal to the movement plane, such as an arm or a pivot, at an angle.
getRotationPID() - Method in class yams.core.mechanisms.config.SwerveDriveConfig: Get the rotation PID controller used for drive to pose and heading control.
getRotorAcceleration() - Method in interface yams.core.motorcontrollers.SimSupplier: Get the rotor acceleration.
getRotorAcceleration() - Method in class yams.core.motorcontrollers.simulation.ArmSimSupplier
getRotorAcceleration() - Method in class yams.core.motorcontrollers.simulation.DCMotorSimSupplier
getRotorAcceleration() - Method in class yams.core.motorcontrollers.simulation.ElevatorSimSupplier: Get the rotor acceleration.
getRotorPosition() - Method in class yams.core.motorcontrollers.local.NovaWrapper
getRotorPosition() - Method in class yams.core.motorcontrollers.local.SparkWrapper
getRotorPosition() - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
getRotorPosition() - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper
getRotorPosition() - Method in interface yams.core.motorcontrollers.SimSupplier: Get the rotor position.
getRotorPosition() - Method in class yams.core.motorcontrollers.simulation.ArmSimSupplier
getRotorPosition() - Method in class yams.core.motorcontrollers.simulation.DCMotorSimSupplier
getRotorPosition() - Method in class yams.core.motorcontrollers.simulation.ElevatorSimSupplier: Get the rotor position.
getRotorPosition() - Method in class yams.core.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.core.gearing.MechanismGearing: Get the sensor to the mechanism ratio for the motor to the mechanism.
getRotorVelocity() - Method in class yams.core.motorcontrollers.local.NovaWrapper
getRotorVelocity() - Method in class yams.core.motorcontrollers.local.SparkWrapper
getRotorVelocity() - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
getRotorVelocity() - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper
getRotorVelocity() - Method in interface yams.core.motorcontrollers.SimSupplier: Get the rotor velocity.
getRotorVelocity() - Method in class yams.core.motorcontrollers.simulation.ArmSimSupplier
getRotorVelocity() - Method in class yams.core.motorcontrollers.simulation.DCMotorSimSupplier
getRotorVelocity() - Method in class yams.core.motorcontrollers.simulation.ElevatorSimSupplier: Get the rotor velocity.
getRotorVelocity() - Method in class yams.core.motorcontrollers.SmartMotorController: Gets the angular velocity of the motor.
getSensor() - Method in class yams.core.mechanisms.config.SensorConfig: Get the Sensor for this sensor.
getSetpoint() - Method in class yams.core.math.ExponentialProfilePIDController: Get the setpoint.
getSetpointFeedforwardForce() - Method in class yams.core.motorcontrollers.SmartMotorController: Get the feedforward Force last supplied to SmartMotorController.setVelocity(AngularVelocity, Force) or SmartMotorController.setVelocity(LinearVelocity, Force).
getShooterConfig() - Method in class yams.core.mechanisms.velocity.FlyWheel: Get the FlyWheelConfig object for this FlyWheel
getSimColor() - Method in class yams.core.mechanisms.config.ArmConfig: Get sim color
getSimColor() - Method in class yams.core.mechanisms.config.DifferentialMechanismConfig: Sim color value
getSimColor() - Method in class yams.core.mechanisms.config.ElevatorConfig: Get sim color
getSimColor() - Method in class yams.core.mechanisms.config.FlyWheelConfig: Get sim color
getSimColor() - Method in class yams.core.mechanisms.config.PivotConfig: Sim color value
getSimpleFeedforward(SmartMotorController.ClosedLoopControllerSlot) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Get the SimpleMotorFeedforward Optional.
getSimPose() - Method in class yams.core.mechanisms.swerve.SwerveDrive: Get the simulated pose of the robot, assuming the SwerveModuleVelocitys commanded to the modules are met perfectly.
getSimSupplier() - Method in class yams.core.motorcontrollers.SmartMotorController: Get the sim supplier.
getSimulationPeriod() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Get the simulation loop period the rate at which SmartMotorController.simIterate() steps the simulated physics forward.
getSmartControllerTelemetryConfig() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Get the telemetry configuration
getSpeed() - Method in class yams.core.mechanisms.velocity.FlyWheel: Get the SmartMotorController Mechanism velocity representing the FlyWheel.
getSpeedometerMaxVelocity() - Method in class yams.core.mechanisms.config.FlyWheelConfig: Get the maximum velocity of the speedometer simulation.
getStageHeights() - Method in class yams.core.mechanisms.config.ElevatorConfig: Get how far each moving stage travels relative to the stage below it.
getStageHeightTotal() - Method in class yams.core.mechanisms.config.ElevatorConfig: Get how far the stages travel together, the sum of the stage heights.
getStages() - Method in class yams.core.mechanisms.config.ElevatorConfig: Get the number of stages that move, counting the carriage as the last.
getStartingPosition() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Get the starting mechanism position of the SmartMotorController
getStartingTiltAngle() - Method in class yams.core.mechanisms.config.DifferentialMechanismConfig: Get starting tilt Angle.
getStartingTwistAngle() - Method in class yams.core.mechanisms.config.DifferentialMechanismConfig: Get starting twist Angle.
getState() - Method in class yams.core.mechanisms.swerve.SwerveModule: Get the SwerveModuleVelocity of the module, with how fast its azimuth is turning.
getStateFromRobotRelativeChassisSpeeds(ChassisVelocities) - Method in class yams.core.mechanisms.swerve.SwerveDrive: Get the SwerveModuleVelocitys of the swerve drive given a robot relative chassis speed.
getStateOfCharge() - Static method in class yams.core.motorcontrollers.simulation.BatterySim: Get the simulated state of charge of the battery, from 0 (empty) to 1 (full).
getStateOptimization() - Method in class yams.core.mechanisms.config.SwerveModuleConfig: Enable or disable state optimization.
getStatorCurrent() - Method in class yams.core.motorcontrollers.local.NovaWrapper
getStatorCurrent() - Method in class yams.core.motorcontrollers.local.SparkWrapper
getStatorCurrent() - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
getStatorCurrent() - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper
getStatorCurrent() - Method in interface yams.core.motorcontrollers.SimSupplier: Get the stator current draw of from the sim.
getStatorCurrent() - Method in class yams.core.motorcontrollers.simulation.ArmSimSupplier
getStatorCurrent() - Method in class yams.core.motorcontrollers.simulation.DCMotorSimSupplier
getStatorCurrent() - Method in class yams.core.motorcontrollers.simulation.ElevatorSimSupplier
getStatorCurrent() - Method in class yams.core.motorcontrollers.SmartMotorController: Get the stator current of the motor controller.
getStatorStallCurrentLimit() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Get the stator stall current limit.
getStructArrayFields() - Method in class yams.core.telemetry.SwerveDriveTelemetryConfig: Get the configured struct array fields.
getStructFields() - Method in class yams.core.telemetry.SwerveDriveTelemetryConfig: Get the configured struct fields.
getStructFields() - Method in class yams.core.telemetry.SwerveModuleTelemetryConfig: Get the configured struct fields.
getSubsystem() - Method in class yams.commands2.config.SmartMotorControllerConfig: Get the subsystem controlled by the SmartMotorController
getSubsystem() - Method in class yams.commands2.config.SwerveDriveConfig: Get the swerve drive subsystem.
getSubsystem() - Method in class yams.commands2.mechanisms.Arm
getSubsystem() - Method in interface yams.commands2.mechanisms.CommandMechanism: Subsystem the mechanism's commands should require.
getSubsystem() - Method in class yams.commands2.mechanisms.DifferentialMechanism
getSubsystem() - Method in class yams.commands2.mechanisms.DoubleJointedArm
getSubsystem() - Method in class yams.commands2.mechanisms.Elevator
getSubsystem() - Method in class yams.commands2.mechanisms.FlyWheel
getSubsystem() - Method in class yams.commands2.mechanisms.Pivot
getSubsystem() - Method in class yams.commands2.swerve.SwerveDrive: Subsystem the drive's commands require.
getSupplyCurrent() - Method in class yams.core.motorcontrollers.local.NovaWrapper
getSupplyCurrent() - Method in class yams.core.motorcontrollers.local.SparkWrapper: Deprecated.
getSupplyCurrent() - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
getSupplyCurrent() - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper
getSupplyCurrent() - Method in interface yams.core.motorcontrollers.SimSupplier: Get the supply current draw of the motor controller.
getSupplyCurrent() - Method in class yams.core.motorcontrollers.simulation.ArmSimSupplier
getSupplyCurrent() - Method in class yams.core.motorcontrollers.simulation.DCMotorSimSupplier
getSupplyCurrent() - Method in class yams.core.motorcontrollers.simulation.ElevatorSimSupplier
getSupplyCurrent() - Method in class yams.core.motorcontrollers.SmartMotorController: Get the supply current of the motor controller.
getSupplyStallCurrentLimit() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Get the supply stall current limit.
getSwerveDriveTelemetryConfig() - Method in class yams.core.mechanisms.config.SwerveDriveConfig: Get the user specified SwerveDriveTelemetryConfig, if configured via SwerveDriveConfig.withTelemetry(String,SwerveDriveTelemetryConfig).
getSwerveModuleTelemetryConfig() - Method in class yams.core.mechanisms.config.SwerveModuleConfig: Get the user specified SwerveModuleTelemetryConfig, if configured via SwerveModuleConfig.withTelemetry(String, SwerveModuleTelemetryConfig).
getSystem() - Method in class yams.core.math.LQRConfig: Get the LinearSystem for the LQR.
getTargetVector(Pose2d) - Method in class yams.commands2.swerve.SwerveInputStream: Get the field relative vector from the robot to a target, from where the robot will be after the SwerveInputStream.withAimLookahead(Time) time if there is one.
getTargetVector(Pose2d) - Method in class yams.commands3.swerve.SwerveInputStream: Get the field relative vector from the robot to a target, from where the robot will be after the SwerveInputStream.withAimLookahead(Time) time if there is one.
getTelemetry() - Method in class yams.commands2.swerve.SwerveInputStream: Get this stream's telemetry, created by SwerveInputStream.withTelemetry(String, TelemetryVerbosity).
getTelemetry() - Method in class yams.commands3.swerve.SwerveInputStream: Get this stream's telemetry, created by SwerveInputStream.withTelemetry(String, TelemetryVerbosity).
getTelemetryName() - Method in class yams.core.mechanisms.config.ArmConfig: Network Tables name for the Arm
getTelemetryName() - Method in class yams.core.mechanisms.config.DifferentialMechanismConfig: Network Tables name for the Pivot
getTelemetryName() - Method in class yams.core.mechanisms.config.ElevatorConfig: Network Tables name for the Elevator
getTelemetryName() - Method in class yams.core.mechanisms.config.FlyWheelConfig: Network Tables name for the FlyWheel
getTelemetryName() - Method in class yams.core.mechanisms.config.PivotConfig: Network Tables name for the Pivot
getTelemetryName() - Method in class yams.core.mechanisms.config.SwerveDriveConfig: Get the telemetry name for the SwerveDrive.
getTelemetryName() - Method in class yams.core.mechanisms.config.SwerveModuleConfig: Get the telemetry name for the SwerveModule.
getTelemetryName() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Telemetry name.
getTelemetryVerbosity() - Method in class yams.core.mechanisms.config.ArmConfig: Get the telemetry verbosity of the Arm
getTelemetryVerbosity() - Method in class yams.core.mechanisms.config.DifferentialMechanismConfig: Get the telemetry verbosity of the Pivot
getTelemetryVerbosity() - Method in class yams.core.mechanisms.config.ElevatorConfig: Get the telemetry verbosity of the Elevator
getTelemetryVerbosity() - Method in class yams.core.mechanisms.config.FlyWheelConfig: Get the telemetry verbosity of the FlyWheel
getTelemetryVerbosity() - Method in class yams.core.mechanisms.config.PivotConfig: Get the telemetry verbosity of the Pivot
getTelemetryVerbosity() - Method in class yams.core.mechanisms.config.SwerveDriveConfig: Get the telemetry verbosity for the SwerveModule.
getTelemetryVerbosity() - Method in class yams.core.mechanisms.config.SwerveModuleConfig: Get the telemetry verbosity for the SwerveModule.
getTemperature() - Method in class yams.core.motorcontrollers.local.NovaWrapper
getTemperature() - Method in class yams.core.motorcontrollers.local.SparkWrapper
getTemperature() - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
getTemperature() - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper
getTemperature() - Method in class yams.core.motorcontrollers.SmartMotorController: Get the SmartMotorController temperature.
getTemperatureCutoff() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Get the temperature cut off for the SmartMotorController
getThriftyPulsar(int) - Static method in class yams.core.motorcontrollers.YMotors: The Thrifty Pulsar 775, from Thrifty's specs: 12 V, 3.1 N-m and 189 A stalled, and 2.7 A at 7500 RPM free.
getTiltAngle(Angle, Angle) - Method in class yams.core.mechanisms.config.DifferentialMechanismConfig: Get the tilt angle of the DifferentialMechanism.
getTiltAngleSupplier() - Method in class yams.core.mechanisms.config.DifferentialMechanismConfig: Get the angle supplier for the attached absolute encoder, if it exists.
getTiltPosition() - Method in class yams.core.mechanisms.positional.DifferentialMechanism: Get the tilt Angle of the mechanism.
getTiltStartingAngle() - Method in class yams.core.mechanisms.config.DifferentialMechanismConfig: Get the starting angle of the DifferentialMechanism tilt.
getTranslatedPose(Distance, Angle) - Method in class yams.core.mechanisms.config.MechanismPositionConfig: The pose of a part that slides along the movement plane, such as an elevator's carriage.
getTranslationAxisScale() - Method in class yams.commands2.swerve.SwerveInputStream: Get the translation axis scalar.
getTranslationAxisScale() - Method in class yams.commands3.swerve.SwerveInputStream: Get the translation axis scalar.
getTranslationPID() - Method in class yams.core.mechanisms.config.SwerveDriveConfig: Get the translation PID controller used for drive to pose.
getTrapezoidalProfileState() - Method in class yams.core.motorcontrollers.SmartMotorController: Get the current encoder trapezoidal profile state for the closed loop controller.
getTrapezoidProfile() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Get the trapezoidal motion profile for the SmartMotorController.
getTunableType() - Method in class yams.commands3.telemetry.CommandTunable
getTuningTable() - Method in class yams.core.telemetry.MechanismTelemetry: Get the tuning NetworkTable.
getTwistAngle(Angle, Angle) - Method in class yams.core.mechanisms.config.DifferentialMechanismConfig: Get the twist angle of the DifferentialMechanism with any additional twist gearing.
getTwistAngleSupplier() - Method in class yams.core.mechanisms.config.DifferentialMechanismConfig: Get the angle supplier for the attached absolute encoder, if it exists.
getTwistGearing() - Method in class yams.core.mechanisms.config.DifferentialMechanismConfig: The gearing for the twist in the DifferentialMechanism
getTwistPosition() - Method in class yams.core.mechanisms.positional.DifferentialMechanism: Get the twist Angle of the mechanism.
getTwistStartingAngle() - Method in class yams.core.mechanisms.config.DifferentialMechanismConfig: Get the starting angle of the DifferentialMechanism twist.
getType() - Method in class yams.core.math.LQRConfig: Get the LQRConfig.LQRType of the LQR.
getType() - Method in class yams.core.math.LQRController: Get the type of LQR.
getType() - Method in class yams.core.motorcontrollers.simulation.SensorData: Get the sensor data type.
getType() - Method in enum class yams.core.motorcontrollers.simulation.SensorData.HALValueType: Get the HALValue type.
getUniqueRange() - Method in class yams.core.units.EasyCRT: Get how far the shared gear can turn before the pair of encoder readings repeats.
getUnsupportedTelemetryFields() - Method in class yams.core.motorcontrollers.local.NovaWrapper
getUnsupportedTelemetryFields() - Method in class yams.core.motorcontrollers.local.SparkWrapper
getUnsupportedTelemetryFields() - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
getUnsupportedTelemetryFields() - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper
getUnsupportedTelemetryFields() - Method in class yams.core.motorcontrollers.SmartMotorController: Get a list of unsupported telemetry fields if any exist.
getUpdatedSim() - Method in interface yams.core.motorcontrollers.SimSupplier: Get the updated sim watchdog.
getUpdatedSim() - Method in class yams.core.motorcontrollers.simulation.ArmSimSupplier
getUpdatedSim() - Method in class yams.core.motorcontrollers.simulation.DCMotorSimSupplier
getUpdatedSim() - Method in class yams.core.motorcontrollers.simulation.ElevatorSimSupplier
getUpperAngle() - Method in class yams.core.mechanisms.positional.DoubleJointedArm: Get the elbow angle of the DoubleJointedArm
getUpperArmConfig() - Method in class yams.core.mechanisms.positional.DoubleJointedArm: Get the upper (elbow) ArmConfig.
getUpperHardLimit() - Method in class yams.core.mechanisms.config.ArmConfig: Get the Upper hard limit of the Arm.
getUpperHardLimit() - Method in class yams.core.mechanisms.config.PivotConfig: Get the Upper hard limit of the Pivot.
getUpperMotorController() - Method in class yams.core.mechanisms.positional.DoubleJointedArm: Get the upper (elbow) SmartMotorController.
getUpperPose3d() - Method in class yams.core.mechanisms.positional.DoubleJointedArm: Get the upper arm's pose, for publishing to AdvantageScope as a component of a robot model: at the end of the lower arm, turned to the upper arm's angle.
getUseExternalFeedback() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Use the external feedback sensor.
getValue() - Method in class yams.core.motorcontrollers.simulation.SensorData: Get the sensor value, real sensor value if the robot is real.
getVelocity() - Method in class yams.core.mechanisms.positional.Elevator: Get the linear velocity of the Elevator.
getVelocityMeasurementDelay() - Method in class yams.core.motorcontrollers.local.SparkWrapper: Get how far behind the mechanism the measured velocity is, from how the motor controller filters it, as WPILib's SysId works it out for its presets.
getVelocityMeasurementDelay() - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper: Get how far behind the mechanism the measured velocity is, from how the motor controller filters it, as WPILib's SysId works it out for its presets.
getVelocityMeasurementDelay() - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper: Get how far behind the mechanism the measured velocity is, from how the motor controller filters it, as WPILib's SysId works it out for its presets.
getVelocityMeasurementDelay() - Method in class yams.core.motorcontrollers.SmartMotorController: Get how far behind the mechanism the measured velocity is, from how the motor controller filters it, as WPILib's SysId works it out for its presets.
getVelocityTrapezoidalProfileInUse() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Velocity trapezoidal profile configured.
getVendorConfig() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Get the vendor specific configuration object to mutate with SmartMotorControllerConfig options.
getVendorControlRequest() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Get the vendor specific control request.
getVerbosity() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Get Telemetry verbosity.
getVoltage() - Method in class yams.core.motorcontrollers.local.NovaWrapper
getVoltage() - Method in class yams.core.motorcontrollers.local.SparkWrapper
getVoltage() - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
getVoltage() - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper
getVoltage() - Method in class yams.core.motorcontrollers.SmartMotorController: Get the voltage output of the motor.
getVoltageCompensation() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Get the voltage compensation for the SmartMotorController
getWindowXDimension(Distance) - Method in class yams.core.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.core.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.
getZeroPower() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Get the zero power mode for the SmartMotorController
gte(Angle) - Method in class yams.commands2.mechanisms.Arm: Greater than or equal to angle.
gte(Angle) - Method in class yams.commands2.mechanisms.Pivot: Greater than or equal to angle.
gte(Angle) - Method in class yams.commands3.mechanisms.Arm: Greater than or equal to angle.
gte(Angle) - Method in class yams.commands3.mechanisms.Pivot: Greater than or equal to angle.
gte(AngularVelocity) - Method in class yams.commands2.mechanisms.FlyWheel: Greater than or equal to angular velocity.
gte(AngularVelocity) - Method in class yams.commands3.mechanisms.FlyWheel: Greater than or equal to angular velocity.
gte(Distance) - Method in class yams.commands2.mechanisms.Elevator: Greater than or equal to height.
gte(Distance) - Method in class yams.commands3.mechanisms.Elevator: Greater than or equal to height.
Gyro - Enum constant in enum class yams.core.telemetry.SwerveDriveTelemetry.DoubleTelemetryField: Gyro angle, in degrees.
GyroAxis - Enum Class in yams.core.mechanisms.config.enums: Axis of the gyro that points up through the robot, so the robot turning shows up as rotation about it: GyroAxis.YAW for a gyro mounted flat, GyroAxis.ROLL or GyroAxis.PITCH for one mounted on its side.

H

Hand - Static variable in class yams.core.units.YUnits: 101.6/1000 of a Units.Meters, or 4 Units.Inches.
Hands - Static variable in class yams.core.units.YUnits: 101.6/1000 of a Units.Meters, or 4 Units.Inches.
HIGH - Enum constant in enum class yams.core.telemetry.enums.TelemetryVerbosity: High telemetry
Hour - Static variable in class yams.core.units.YUnits: Alias for YUnits.Hours to make combined unit definitions read more smoothly.
Hours - Static variable in class yams.core.units.YUnits: 60 Units.Minutes.
How to use - Section in interface yams.core.motorcontrollers.SimSupplier

I

InvalidStageGivenException - Exception Class in yams.core.exceptions: Thrown by GearBox and Sprocket when a gear stage string is not in the required "IN:OUT" format.
InvalidStageGivenException(String) - Constructor for exception class yams.core.exceptions.InvalidStageGivenException: Constructs exception for failure to provide stages.
isAimLocked(Angle) - Method in class yams.commands2.swerve.SwerveInputStream: Check if the robot is aiming and facing its aim heading.
isAimLocked(Angle) - Method in class yams.commands3.swerve.SwerveInputStream: Check if the robot is aiming and facing its aim heading.
isAllianceRelativeEnabled() - Method in class yams.commands2.swerve.SwerveInputStream: Check if translation is flipped 180 degrees while on the red alliance.
isAllianceRelativeEnabled() - Method in class yams.commands3.swerve.SwerveInputStream: Check if translation is flipped 180 degrees while on the red alliance.
isAtMax() - Method in class yams.core.mechanisms.positional.Arm: Whether the arm is at or above its maximum angle, defined by the motor controller upper soft limit if present, otherwise the arm upper hard limit.
isAtMax() - Method in class yams.core.mechanisms.positional.DifferentialMechanism: Not supported for DifferentialMechanism.
isAtMax() - Method in class yams.core.mechanisms.positional.DoubleJointedArm: Not supported for DoubleJointedArm.
isAtMax() - Method in class yams.core.mechanisms.positional.Elevator: Whether the elevator is at or above its maximum height, defined by the motor controller upper soft limit if present, otherwise the elevator maximum height.
isAtMax() - Method in class yams.core.mechanisms.positional.Pivot: Whether the pivot is at or above its maximum angle, defined by the motor controller upper soft limit if present, otherwise the pivot upper hard limit.
isAtMax() - Method in class yams.core.mechanisms.positional.SmartPositionalMechanism: SmartPositionalMechanism is at max, defined by the soft limit or hard limit on the SmartPositionalMechanism.
isAtMin() - Method in class yams.core.mechanisms.positional.Arm: Whether the arm is at or below its minimum angle, defined by the motor controller lower soft limit if present, otherwise the arm lower hard limit.
isAtMin() - Method in class yams.core.mechanisms.positional.DifferentialMechanism: Not supported for DifferentialMechanism.
isAtMin() - Method in class yams.core.mechanisms.positional.DoubleJointedArm: Not supported for DoubleJointedArm.
isAtMin() - Method in class yams.core.mechanisms.positional.Elevator: Whether the elevator is at or below its minimum height, defined by the motor controller lower soft limit if present, otherwise the elevator minimum height.
isAtMin() - Method in class yams.core.mechanisms.positional.Pivot: Whether the pivot is at or below its minimum angle, defined by the motor controller lower soft limit if present, otherwise the pivot lower hard limit.
isAtMin() - Method in class yams.core.mechanisms.positional.SmartPositionalMechanism: Minimum angle of the SmartPositionalMechanism given by the soft limit or hard limit of the SmartPositionalMechanism.
isBetween(Angle, Angle) - Method in class yams.core.mechanisms.positional.Arm: Between two angles.
isBetween(Angle, Angle) - Method in class yams.core.mechanisms.positional.Pivot: Between two angles.
isBetween(AngularVelocity, AngularVelocity) - Method in class yams.core.mechanisms.velocity.FlyWheel: Between two velocities.
isBetween(Distance, Distance) - Method in class yams.core.mechanisms.positional.Elevator: Between two heights.
isGte(Angle) - Method in class yams.core.mechanisms.positional.Arm: Greater than or equal to angle.
isGte(Angle) - Method in class yams.core.mechanisms.positional.Pivot: Greater than or equal to angle.
isGte(AngularVelocity) - Method in class yams.core.mechanisms.velocity.FlyWheel: Greater than or equal to angular velocity.
isGte(Distance) - Method in class yams.core.mechanisms.positional.Elevator: Greater than or equal to height.
isInputFed() - Method in interface yams.core.motorcontrollers.SimSupplier: Check if the input was fed.
isInputFed() - Method in class yams.core.motorcontrollers.simulation.ArmSimSupplier
isInputFed() - Method in class yams.core.motorcontrollers.simulation.DCMotorSimSupplier
isInputFed() - Method in class yams.core.motorcontrollers.simulation.ElevatorSimSupplier
isLte(Angle) - Method in class yams.core.mechanisms.positional.Arm: Less than or equal to angle
isLte(Angle) - Method in class yams.core.mechanisms.positional.Pivot: Less than or equal to angle
isLte(AngularVelocity) - Method in class yams.core.mechanisms.velocity.FlyWheel: Less than or equal to angular velocity
isLte(Distance) - Method in class yams.core.mechanisms.positional.Elevator: Less than or equal to height
isMotor(DCMotor, DCMotor) - Method in class yams.core.motorcontrollers.SmartMotorController: Compare DCMotors to identify the given motor.
isNear(Pose2d, Distance, Angle) - Method in class yams.core.mechanisms.swerve.SwerveDrive: Whether the robot is within the given tolerances of a pose.
isNear(Translation2d, Distance) - Method in class yams.core.mechanisms.positional.DoubleJointedArm: Is near the target within tolerance
isNear(Angle, Angle) - Method in class yams.core.mechanisms.positional.Arm: Arm is near an angle.
isNear(Angle, Angle) - Method in class yams.core.mechanisms.positional.Pivot: Pivot is near an angle.
isNear(AngularVelocity, AngularVelocity) - Method in class yams.core.mechanisms.velocity.FlyWheel: FlyWheel is near a speed.
isNear(Distance, Distance) - Method in class yams.core.mechanisms.positional.Elevator: Elevator is near a height.
isOmegaCubeEnabled() - Method in class yams.commands2.swerve.SwerveInputStream: Check if the angular velocity axis is cubed, for finer control near the center of the stick.
isOmegaCubeEnabled() - Method in class yams.commands3.swerve.SwerveInputStream: Check if the angular velocity axis is cubed, for finer control near the center of the stick.
isRobotRelativeEnabled() - Method in class yams.commands2.swerve.SwerveInputStream: Check if the translation axes are treated as robot relative.
isRobotRelativeEnabled() - Method in class yams.commands3.swerve.SwerveInputStream: Check if the translation axes are treated as robot relative.
isTranslationCubeEnabled() - Method in class yams.commands2.swerve.SwerveInputStream: Check if the translation magnitude is cubed, for finer control near the center of the stick.
isTranslationCubeEnabled() - Method in class yams.commands3.swerve.SwerveInputStream: Check if the translation magnitude is cubed, for finer control near the center of the stick.
isUsingSpeedometerSimulation() - Method in class yams.core.mechanisms.config.FlyWheelConfig: Check if the shooter is using the speedometer simulation.
iterateClosedLoopController() - Method in class yams.core.motorcontrollers.SmartMotorController: Iterate the closed loop controller.

J

Joystick-to-yams.core.mechanisms.swerve.SwerveDrive adapter - Section in class yams.commands2.swerve.SwerveInputStream

K

kA - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: kA
kBoolean - Enum constant in enum class yams.core.motorcontrollers.simulation.SensorData.HALValueType: Boolean type HALValue.BOOLEAN
kD - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: kD
kDouble - Enum constant in enum class yams.core.motorcontrollers.simulation.SensorData.HALValueType: Double type HALValue.DOUBLE
kEnum - Enum constant in enum class yams.core.motorcontrollers.simulation.SensorData.HALValueType: Enum type HALValue.ENUM
Key Features - Section in Overview
Key fields - Section in class yams.core.motorcontrollers.simulation.SensorData
Key fields and methods - Section in class yams.core.motorcontrollers.simulation.Sensor
kG - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: kG
kI - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: kI
kInt - Enum constant in enum class yams.core.motorcontrollers.simulation.SensorData.HALValueType: Int type HALValue.INT
kLong - Enum constant in enum class yams.core.motorcontrollers.simulation.SensorData.HALValueType: Long type HALValue.LONG
kOne - Static variable in class yams.core.gearing.MechanismGearing: 1:1 Mechanism Gearing.
kP - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: kP
kS - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: kS
kV - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: kV

L

League - Static variable in class yams.core.units.YUnits: 4828.032 Units.Meterss, or 3 YUnits.Miles.
Leagues - Static variable in class yams.core.units.YUnits: 4828.032 Units.Meterss, or 3 YUnits.Miles.
Lightweight scalar publishers - Section in package yams.core.telemetry
lockPose() - Method in class yams.core.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.core.telemetry.enums.TelemetryVerbosity: Low telemetry
LQRConfig - Class in yams.core.math: LQR Configuration for LQRController
LQRConfig(DCMotor, MechanismGearing, MomentOfInertia) - Constructor for class yams.core.math.LQRConfig: Create a new LQR Configuration.
LQRConfig.LQRType - Enum Class in yams.core.math: LQR Type
LQRController - Class in yams.core.math: Linear Quadratic Regulator (Regulator is a type of controller)
LQRController(LQRConfig) - Constructor for class yams.core.math.LQRController: Create a LQR Controller.
LQRController(LQRConfig.LQRType, LinearSystemLoop, Time) - Constructor for class yams.core.math.LQRController: Create a LQR Controller.
lte(Angle) - Method in class yams.commands2.mechanisms.Arm: Less than or equal to angle
lte(Angle) - Method in class yams.commands2.mechanisms.Pivot: Less than or equal to angle
lte(Angle) - Method in class yams.commands3.mechanisms.Arm: Less than or equal to angle
lte(Angle) - Method in class yams.commands3.mechanisms.Pivot: Less than or equal to angle
lte(AngularVelocity) - Method in class yams.commands2.mechanisms.FlyWheel: Less than or equal to angular velocity
lte(AngularVelocity) - Method in class yams.commands3.mechanisms.FlyWheel: Less than or equal to angular velocity
lte(Distance) - Method in class yams.commands2.mechanisms.Elevator: Less than or equal to height
lte(Distance) - Method in class yams.commands3.mechanisms.Elevator: Less than or equal to height

M

m_azimuthMotorController - Variable in class yams.core.mechanisms.swerve.SwerveModule: Azimuth motor controller.
m_batterySimUUID - Variable in class yams.core.motorcontrollers.SmartMotorController: Battery simulation UUID used when standalone simulation.
m_closedLoopControllerThread - Variable in class yams.core.motorcontrollers.SmartMotorController: Thread of the closed loop controller.
m_closeHooks - Variable in class yams.core.motorcontrollers.SmartMotorController: Hooks run on SmartMotorController.close().
m_config - Variable in class yams.core.motorcontrollers.SmartMotorController: SmartMotorControllerConfig for the motor.
m_driveMotorController - Variable in class yams.core.mechanisms.swerve.SwerveModule: Drive motor controller.
m_expoProfile - Variable in class yams.core.motorcontrollers.SmartMotorController: Exponential profile for the closed loop controller.
m_expoState - Variable in class yams.core.motorcontrollers.SmartMotorController: Exponential profile state for the closed loop controller.
m_lastClosedLoopMechanismPosition - Variable in class yams.core.motorcontrollers.SmartMotorController: Mechanism position the closed loop controller last used, unwrapped across the continuous wrapping point.
m_looseFollowers - Variable in class yams.core.motorcontrollers.SmartMotorController: Loosely coupled followers.
m_lqr - Variable in class yams.core.motorcontrollers.SmartMotorController: LQR controller for the motor controller.
m_mechanismLigament - Variable in class yams.core.mechanisms.positional.SmartPositionalMechanism: The ligament that is being moved.
m_mechanismRoot - Variable in class yams.core.mechanisms.positional.SmartPositionalMechanism: The root point of the Mechanism.
m_mechanismWindow - Variable in class yams.core.mechanisms.SmartMechanism: Mechanism Window.
m_pid - Variable in class yams.core.motorcontrollers.SmartMotorController: Simple PID controller for the motor controller.
m_simSupplier - Variable in class yams.core.motorcontrollers.SmartMotorController: SimSupplier for the mechanism.
m_slot - Variable in class yams.core.motorcontrollers.SmartMotorController: SmartMotorController.ClosedLoopControllerSlot for the closed loop controller.
m_smc - Variable in class yams.core.mechanisms.SmartMechanism: Motor for the subsystem.
m_swerveTelemetry - Variable in class yams.core.mechanisms.swerve.SwerveDrive: Telemetry and live tuning of the drive.
m_systemCoreClosedLoopAlert - Variable in class yams.core.motorcontrollers.SmartMotorController: Alert shown when the closed loop controller is running on the SystemCore.
m_telemetry - Variable in class yams.core.mechanisms.SmartMechanism: Mechanism telemetry.
m_trapezoidProfile - Variable in class yams.core.motorcontrollers.SmartMotorController: Trapezoidal profile for the closed loop controller.
m_trapState - Variable in class yams.core.motorcontrollers.SmartMotorController: Trapezoidal profile state for the closed loop controller.
max() - Method in class yams.commands2.mechanisms.Arm: Arm is at max, defined by the soft limit or hard limit on the arm.
max() - Method in class yams.commands2.mechanisms.Elevator: Elevator is at max, defined by the soft limit or hard limit on the elevator.
max() - Method in class yams.commands2.mechanisms.Pivot: Pivot is at max, defined by the soft limit or hard limit on the pivot.
max() - Method in class yams.commands3.mechanisms.Arm: Arm is at max, defined by the soft limit or hard limit on the arm.
max() - Method in class yams.commands3.mechanisms.Elevator: Elevator is at max, defined by the soft limit or hard limit on the elevator.
max() - Method in class yams.commands3.mechanisms.Pivot: Pivot is at max, defined by the soft limit or hard limit on the pivot.
maxRobotHeight - Variable in class yams.core.mechanisms.config.MechanismPositionConfig: The height of the robot in meters.
maxRobotLength - Variable in class yams.core.mechanisms.config.MechanismPositionConfig: The length of the robot in meters.
MeasurementAcceleration - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: Measurement acceleration.
MeasurementLowerLimit - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: Measurement lower limit.
MeasurementPosition - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: Measurement position
MeasurementUpperLimit - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: Measurement upper limit.
MeasurementVelocity - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: Measurement velocity.
MechanismAcceleration - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: Mechanism acceleration in rotations per second per second.
MechanismGearing - Class in yams.core.gearing: Mechanism gearing for conversions from the motor output to the mechanism output.
MechanismGearing(double) - Constructor for class yams.core.gearing.MechanismGearing: Construct a MechanismGearing with a reduction ratio.
MechanismGearing(double...) - Constructor for class yams.core.gearing.MechanismGearing: Construct a MechanismGearing with a reduction ratios.
MechanismGearing(GearBox) - Constructor for class yams.core.gearing.MechanismGearing: Initialize the MechanismGearing with only a GearBox attached to the mechanism motor.
MechanismGearing(GearBox, Sprocket) - Constructor for class yams.core.gearing.MechanismGearing: Initialize the MechanismGearing with a GearBox and Sprocket
Mechanism Lifecycle - Section in class yams.core.mechanisms.SmartMechanism
Mechanism Lifecycle - Section in package yams.core.mechanisms
mechanismLigament - Variable in class yams.core.mechanisms.velocity.SmartVelocityMechanism: The ligament that is being moved.
MechanismLowerLimit - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.BooleanTelemetryField: Mechanism lower limit.
MechanismLowerLimit - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: Mechanism lower limit in rotations.
MechanismPosition - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: Mechanism position in rotations.
MechanismPositionConfig - Class in yams.core.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.core.mechanisms.config.MechanismPositionConfig: Create a MechanismPositionConfig with no relative position or robot size limits.
MechanismPositionConfig.Plane - Enum Class in yams.core.mechanisms.config: The planes that the mechanism could be on, used for position calculations.
mechanismRoot - Variable in class yams.core.mechanisms.velocity.SmartVelocityMechanism: The root point of the Mechanism.
MechanismTelemetry - Class in yams.core.telemetry: Mechanism telemetry.
MechanismTelemetry() - Constructor for class yams.core.telemetry.MechanismTelemetry: Create mechanism telemetry, publish it with MechanismTelemetry.setupTelemetry(String).
Mechanism telemetry - Section in package yams.core.telemetry
MechanismUpperLimit - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.BooleanTelemetryField: Mechanism upper limit
MechanismUpperLimit - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: Mechanism upper limit in rotations.
MechanismVelocity - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: Mechanism velocity in rotations per second.
MID - Enum constant in enum class yams.core.telemetry.enums.TelemetryVerbosity: Mid telemetry
Mile - Static variable in class yams.core.units.YUnits: 1609.344 Units.Meterss, or 5280 Units.Feet.
Miles - Static variable in class yams.core.units.YUnits: 1609.344 Units.Meterss, or 5280 Units.Feet.
MilesPerHour - Static variable in class yams.core.units.YUnits: 1 YUnits.Miles per YUnits.Hour.
min() - Method in class yams.commands2.mechanisms.Arm: Minimum angle of the arm given by the soft limit or hard limit of the arm.
min() - Method in class yams.commands2.mechanisms.Elevator: Minimum height of the elevator given by the soft limit or hard limit of the elevator.
min() - Method in class yams.commands2.mechanisms.Pivot: Minimum angle of the pivot given by the soft limit or hard limit of the pivot.
min() - Method in class yams.commands3.mechanisms.Arm: Minimum angle of the arm given by the soft limit or hard limit of the arm.
min() - Method in class yams.commands3.mechanisms.Elevator: Minimum height of the elevator given by the soft limit or hard limit of the elevator.
min() - Method in class yams.commands3.mechanisms.Pivot: Minimum angle of the pivot given by the soft limit or hard limit of the pivot.
ModulesAzimuthAngle - Enum constant in enum class yams.core.telemetry.SwerveDriveTelemetry.DoubleTelemetryField: Tunable angle setpoint applied to every module's azimuth motor, in degrees.
ModulesAzimuthD - Enum constant in enum class yams.core.telemetry.SwerveDriveTelemetry.DoubleTelemetryField: Derivative gain for tuning every module's azimuth motor closed-loop controller.
ModulesAzimuthI - Enum constant in enum class yams.core.telemetry.SwerveDriveTelemetry.DoubleTelemetryField: Integral gain for tuning every module's azimuth motor closed-loop controller.
ModulesAzimuthKa - Enum constant in enum class yams.core.telemetry.SwerveDriveTelemetry.DoubleTelemetryField: Acceleration feedforward gain for tuning every module's azimuth motor.
ModulesAzimuthKs - Enum constant in enum class yams.core.telemetry.SwerveDriveTelemetry.DoubleTelemetryField: Static feedforward gain for tuning every module's azimuth motor.
ModulesAzimuthKv - Enum constant in enum class yams.core.telemetry.SwerveDriveTelemetry.DoubleTelemetryField: Velocity feedforward gain for tuning every module's azimuth motor.
ModulesAzimuthP - Enum constant in enum class yams.core.telemetry.SwerveDriveTelemetry.DoubleTelemetryField: Proportional gain for tuning every module's azimuth motor closed-loop controller.
ModulesAzimuthTuningEnabled - Enum constant in enum class yams.core.telemetry.SwerveDriveTelemetry.BooleanTelemetryField: Enables or disables live tuning of every module's azimuth motor PID gains and angle setpoint.
ModulesAzimuthVoltage - Enum constant in enum class yams.core.telemetry.SwerveDriveTelemetry.DoubleTelemetryField: Tunable voltage applied to every module's azimuth motor, without its closed loop controller, while SwerveDriveTelemetry.BooleanTelemetryField.ModulesAzimuthVoltageEnabled is on.
ModulesAzimuthVoltageEnabled - Enum constant in enum class yams.core.telemetry.SwerveDriveTelemetry.BooleanTelemetryField: While azimuth tuning is on, turn every module's azimuth motor at SwerveDriveTelemetry.DoubleTelemetryField.ModulesAzimuthVoltage instead of the angle setpoint, without its closed loop controller, as for characterizing it.
ModulesDriveD - Enum constant in enum class yams.core.telemetry.SwerveDriveTelemetry.DoubleTelemetryField: Derivative gain for tuning every module's drive motor closed-loop controller.
ModulesDriveI - Enum constant in enum class yams.core.telemetry.SwerveDriveTelemetry.DoubleTelemetryField: Integral gain for tuning every module's drive motor closed-loop controller.
ModulesDriveInPlace - Enum constant in enum class yams.core.telemetry.SwerveDriveTelemetry.BooleanTelemetryField: When enabled ensure drive testing is done with all modules are oriented to the swerve drive will drive counter clockwise positive.
ModulesDriveKa - Enum constant in enum class yams.core.telemetry.SwerveDriveTelemetry.DoubleTelemetryField: Acceleration feedforward gain for tuning every module's drive motor.
ModulesDriveKs - Enum constant in enum class yams.core.telemetry.SwerveDriveTelemetry.DoubleTelemetryField: Static feedforward gain for tuning every module's drive motor.
ModulesDriveKv - Enum constant in enum class yams.core.telemetry.SwerveDriveTelemetry.DoubleTelemetryField: Velocity feedforward gain for tuning every module's drive motor.
ModulesDriveP - Enum constant in enum class yams.core.telemetry.SwerveDriveTelemetry.DoubleTelemetryField: Proportional gain for tuning every module's drive motor closed-loop controller.
ModulesDriveTuningEnabled - Enum constant in enum class yams.core.telemetry.SwerveDriveTelemetry.BooleanTelemetryField: Enables or disables live tuning of every module's drive motor PID gains and velocity setpoint.
ModulesDriveVelocity - Enum constant in enum class yams.core.telemetry.SwerveDriveTelemetry.DoubleTelemetryField: Tunable velocity setpoint applied to every module's drive motor, in meters per second.
ModulesDriveVoltage - Enum constant in enum class yams.core.telemetry.SwerveDriveTelemetry.DoubleTelemetryField: Tunable voltage applied to every module's drive motor, without its closed loop controller, while SwerveDriveTelemetry.BooleanTelemetryField.ModulesDriveVoltageEnabled is on.
ModulesDriveVoltageEnabled - Enum constant in enum class yams.core.telemetry.SwerveDriveTelemetry.BooleanTelemetryField: While drive tuning is on, drive every module's drive motor at SwerveDriveTelemetry.DoubleTelemetryField.ModulesDriveVoltage instead of the velocity setpoint, without its closed loop controller, as for characterizing it.
MotionProfile - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.BooleanTelemetryField: Motion profile currently getting used.
MOTOR_INVERTED - Enum constant in enum class yams.core.motorcontrollers.SmartMotorControllerConfig.SmartMotorControllerOptions: Inversion state of the motor
Motor Controller Exceptions - Section in package yams.core.exceptions
Motor Controller Requirement - Section in package yams.commands2.config
Motor Controller Requirement - Section in package yams.core.mechanisms.config
Motor controller telemetry - Section in package yams.core.telemetry
MotorInversion - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.BooleanTelemetryField: Motor inversion.
MotorMode - Enum Class in yams.core.motorcontrollers.enums: Zero power mode for the SmartMotorController
MotorNotPresentException - Exception Class in yams.core.exceptions: Thrown by a SmartMechanism subclass when the primary SmartMotorController has not been set before the mechanism attempts to use it.
MotorNotPresentException(String) - Constructor for exception class yams.core.exceptions.MotorNotPresentException: Create RuntimeException for SmartMechanism
MotorTemperature - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: Motor temperature
mountRotation - Variable in class yams.core.mechanisms.config.MechanismPositionConfig: How the mechanism is turned where it is mounted.
MPH - Static variable in class yams.core.units.YUnits: 1 YUnits.Miles per YUnits.Hour.

N

near(Angle, Angle) - Method in class yams.commands2.mechanisms.Arm: Arm is near an angle.
near(Angle, Angle) - Method in class yams.commands2.mechanisms.Pivot: Pivot is near an angle.
near(Angle, Angle) - Method in class yams.commands3.mechanisms.Arm: Arm is near an angle.
near(Angle, Angle) - Method in class yams.commands3.mechanisms.Pivot: Pivot is near an angle.
near(AngularVelocity, AngularVelocity) - Method in class yams.commands2.mechanisms.FlyWheel: FlyWheel is near a speed.
near(AngularVelocity, AngularVelocity) - Method in class yams.commands3.mechanisms.FlyWheel: FlyWheel is near a speed.
near(Distance, Distance) - Method in class yams.commands2.mechanisms.Elevator: Elevator is near a height.
near(Distance, Distance) - Method in class yams.commands3.mechanisms.Elevator: Elevator is near a height.
NetworkTablesBackends - Class in yams.core.telemetry: Registers TelemetryRegistry and TunableRegistry backends that publish directly under the Mechanisms and Tuning NetworkTables roots so the same roots MechanismTelemetry and SmartMotorControllerTelemetry already publish raw NetworkTables data to instead of the default /Telemetry and /Tunables roots.
NoStagesGivenException - Exception Class in yams.core.exceptions: Thrown by GearBox, Sprocket, and SmartMath when a gear reduction calculation is requested but no gear stages were supplied.
NoStagesGivenException() - Constructor for exception class yams.core.exceptions.NoStagesGivenException: Constructs exception for failure to provide stages.
NovaWrapper - Class in yams.core.motorcontrollers.local: Nova wrapper for The Thrifty Bot's Thrifty Nova motor controller, using ThriftyLib 2027.
NovaWrapper(Nova, DCMotor, SmartMotorControllerConfig) - Constructor for class yams.core.motorcontrollers.local.NovaWrapper: Construct the Nova Wrapper for the generic SmartMotorController.

O

of(SwerveDrive, DoubleSupplier, DoubleSupplier) - Static method in class yams.commands2.swerve.SwerveInputStream: Create a SwerveInputStream with only translation axes.
of(SwerveDrive, DoubleSupplier, DoubleSupplier) - Static method in class yams.commands3.swerve.SwerveInputStream: Create a SwerveInputStream with only translation axes.
of(SwerveDrive, DoubleSupplier, DoubleSupplier, DoubleSupplier) - Static method in class yams.commands2.swerve.SwerveInputStream: Create a SwerveInputStream that rotates the robot with an angular velocity axis.
of(SwerveDrive, DoubleSupplier, DoubleSupplier, DoubleSupplier) - Static method in class yams.commands3.swerve.SwerveInputStream: Create a SwerveInputStream that rotates the robot with an angular velocity axis.
OPEN_LOOP - Enum constant in enum class yams.core.motorcontrollers.enums.ControlMode: Open loop control mode.
OpenloopRampRate - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: Open loop dutycycle ramp rate.
optimize(SwerveModuleVelocity, SwerveModuleVelocityWithAzimuth, Rotation2d) - Static method in class yams.core.mechanisms.swerve.SwerveModuleVelocityWithAzimuth: Optimize a module state like SwerveModuleVelocity.optimize(Rotation2d), keeping the orientation the wheel was last sent to unless the other is better by more than 30 degrees.
optimize(SwerveModuleVelocity, SwerveModuleVelocityWithAzimuth, Rotation2d, Angle) - Static method in class yams.core.mechanisms.swerve.SwerveModuleVelocityWithAzimuth: Optimize a module state like SwerveModuleVelocity.optimize(Rotation2d), keeping the orientation the wheel was last sent to unless the other is better by more than hysteresis.
optimizeRobotRelativeChassisSpeeds(ChassisVelocities) - Method in class yams.core.mechanisms.config.SwerveDriveConfig: Optimize the given chassis speeds, first adding the anti-tipping correction when it is configured with SwerveDriveConfig.withAntiTipping(AntiTipping).
OutputVoltage - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: Voltage supplied to the motor.

P

Package Summary - Section in Overview
parent - Variable in class yams.core.mechanisms.config.MechanismPositionConfig: The pose the mechanism is mounted on, such as another mechanism's, or the robot's origin if empty.
parentTable - Variable in class yams.core.motorcontrollers.SmartMotorController: Parent table for telemetry.
Per-Mechanism Configuration Exceptions - Section in package yams.core.exceptions
Phoenix 6 API - Section in package yams.core.motorcontrollers.remote
PITCH - Enum constant in enum class yams.core.mechanisms.config.enums.GyroAxis: The gyro's Y axis points up: the robot turning is the gyro's pitch.
Pivot - Class in yams.commands2.mechanisms: Command-based extension of Pivot that adds the Subsystem binding and Command/Trigger factories.
Pivot - Class in yams.commands3.mechanisms: Command-based extension of Pivot that adds the Mechanism binding and Command/Trigger factories.
Pivot - Class in yams.core.mechanisms.positional: Pivot mechanism.
Pivot(PivotConfig, SmartMotorController) - Constructor for class yams.commands2.mechanisms.Pivot: Construct the Pivot class
Pivot(PivotConfig, SmartMotorController) - Constructor for class yams.commands3.mechanisms.Pivot: Construct the Pivot class
Pivot(PivotConfig, SmartMotorController) - Constructor for class yams.core.mechanisms.positional.Pivot: Construct the Pivot class
PivotConfig - Class in yams.core.mechanisms.config: Pivot configuration class.
PivotConfig() - Constructor for class yams.core.mechanisms.config.PivotConfig: Pivot Configuration class
PivotConfig(PivotConfig) - Constructor for class yams.core.mechanisms.config.PivotConfig: Copy constructor.
PivotConfigurationException - Exception Class in yams.core.exceptions: Thrown by Pivot or PivotConfig when a required field in PivotConfig is missing or invalid.
PivotConfigurationException(String, String, String) - Constructor for exception class yams.core.exceptions.PivotConfigurationException: Pivot configuration exception.
plane - Variable in class yams.core.mechanisms.config.MechanismPositionConfig: The plane that the mechanism is on, used for position calculations.
Pose - Enum constant in enum class yams.core.telemetry.SwerveDriveTelemetry.StructTelemetryField: Estimated Pose2d of the robot, as reported by the SwerveDrivePoseEstimator.
PoundFeetPerSecond - Static variable in class yams.core.units.YUnits: Pounds * Feet/Second
PoundFeetSquaredPerSecond - Static variable in class yams.core.units.YUnits: Pounds * Feet^2/Second
PoundInchesPerSecond - Static variable in class yams.core.units.YUnits: Pounds * Inches/Second
PoundInchesSquaredPerSecond - Static variable in class yams.core.units.YUnits: Pounds * Inches^2/Second
PoundSquareFeet - Static variable in class yams.core.units.YUnits: Pounds^2 * Inches * Radians/Second
PoundSquareInches - Static variable in class yams.core.units.YUnits: Pounds^2 * Inches *Radians/Second
publish(SwerveDrive) - Method in class yams.core.telemetry.SwerveDriveTelemetry: Publish telemetry to NetworkTables and DataLog
publish(SwerveModule) - Method in class yams.core.telemetry.SwerveModuleTelemetry: Publish telemetry to NetworkTables and DataLog.
publish(SmartMotorController) - Method in class yams.core.telemetry.SmartMotorControllerTelemetry: Publish SmartMotorController telemetry to NetworkTable
publishDouble(String, String) - Method in class yams.core.telemetry.MechanismTelemetry: Publish a mechanism-level double field under this mechanism's data table, and if this mechanism was set up with a DataLog name via MechanismTelemetry.setupTelemetry(String, String) to the DataLog as well.
publishMechanismWindow() - Method in class yams.core.mechanisms.SmartMechanism: Publish SmartMechanism.m_mechanismWindow to NetworkTables under Mechanisms/<name>/mechanism.
publishStruct(String, Struct) - Method in class yams.core.telemetry.MechanismTelemetry: Publish a mechanism-level struct field under this mechanism's data table, and if this mechanism was set up with a DataLog name via MechanismTelemetry.setupTelemetry(String, String) to the DataLog as well.
publishStructArray(String, Struct) - Method in class yams.core.telemetry.MechanismTelemetry: Publish a mechanism-level struct array field under this mechanism's data table, and if this mechanism was set up with a DataLog name via MechanismTelemetry.setupTelemetry(String, String) to the DataLog as well.
publishTunable(TunableTable) - Method in class yams.commands3.telemetry.CommandTunable

Q

Quick Start - Section in Overview

R

removeCommands(Subsystem) - Static method in class yams.commands2.telemetry.SmartMotorControllerCommandRegistry: Remove all commands registered for the given subsystem instance.
removeCommands(Mechanism) - Static method in class yams.commands3.telemetry.SmartMotorControllerCommandRegistry: Remove all commands registered for the given mechanism instance.
removeCurrent(UUID) - Static method in class yams.core.motorcontrollers.simulation.BatterySim: Stop counting the given simulation's current draw towards the shared battery load, e.g.
replaceCapacityDerating(InterpolatingDoubleTreeMap) - Static method in class yams.core.motorcontrollers.simulation.BatterySim: Replace the default discharge current → capacity fraction interpolation table used to derate the battery's usable amp-hour capacity at high discharge rates (the Peukert effect).
replaceSOCInterpolation(InterpolatingDoubleTreeMap) - Static method in class yams.core.motorcontrollers.simulation.BatterySim: Replace the default state-of-charge → open circuit voltage interpolation table used when discharge simulation is enabled with BatterySim.enableDischarge(double, Voltage, Resistance).
reset() - Static method in class yams.core.motorcontrollers.simulation.BatterySim: Clear every tracked per-consumer current draw and reset discharge simulation to a fresh, fully-charged, disabled state.
reset(double, double) - Method in class yams.core.math.ExponentialProfilePIDController: Reset the PID and profile with the given position and velocity as the measured position and velocity.
reset(ExponentialProfile.State) - Method in class yams.core.math.ExponentialProfilePIDController: Reset the controller, set the next setpoint to empty.
reset(Angle, AngularVelocity) - Method in class yams.core.math.LQRController: Reset the Arm or Flywheel LQR.
reset(Distance, LinearVelocity) - Method in class yams.core.math.LQRController: Reset the Elevator LQR.
resetDischarge() - Static method in class yams.core.motorcontrollers.simulation.BatterySim: Reset the simulated battery back to a full charge.
resetOdometry(Pose2d) - Method in class yams.core.mechanisms.swerve.SwerveDrive: Resets odometry to the given pose, and sets the gyro to read the pose's heading.
resetRotationPID() - Method in class yams.core.mechanisms.swerve.SwerveDrive: Resets the auto-align rotational PID controller, if one is configured.
resetTranslationPID() - Method in class yams.core.mechanisms.swerve.SwerveDrive: Resets the auto-align translation PID controller, if one is configured.
resetValidationCheck() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Reset the validation checks for all required options to be applied to SmartMotorController from SmartMotorController.applyConfig(SmartMotorControllerConfig).
robotToMechanism - Variable in class yams.core.mechanisms.config.MechanismPositionConfig: The translation from the robot to the mechanism (Optional)
ROLL - Enum constant in enum class yams.core.mechanisms.config.enums.GyroAxis: The gyro's X axis points up: the robot turning is the gyro's roll.
RotationD - Enum constant in enum class yams.core.telemetry.SwerveDriveTelemetry.DoubleTelemetryField: Rotational derivative gain for auto-aligning the robot.
RotationI - Enum constant in enum class yams.core.telemetry.SwerveDriveTelemetry.DoubleTelemetryField: Rotational integral gain for auto-aligning the robot.
rotationInPlane(Angle) - Method in class yams.core.mechanisms.config.MechanismPositionConfig: The rotation of a part turned by an angle about the axis normal to the movement plane.
RotationP - Enum constant in enum class yams.core.telemetry.SwerveDriveTelemetry.DoubleTelemetryField: Rotational proporational gain for auto-aligning the robot.
RotationsPerMinutePerSecond - Static variable in class yams.core.units.YUnits: 1 Units.RPM per Units.Second
RotationsPerYear - Static variable in class yams.core.units.YUnits: 1 Units.Rotations per YUnits.Year.
RotorPosition - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: Rotor position in rotations.
RotorVelocity - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: Rotor velocity in rotations.
RPMPerSecond - Static variable in class yams.core.units.YUnits: 1 Units.RPM per Units.Second
RPY - Static variable in class yams.core.units.YUnits: 1 Units.Rotations per YUnits.Year.
run(Supplier, Supplier) - Method in class yams.commands2.mechanisms.DoubleJointedArm: Set the position of the DoubleJointedArm to be at pose in meters.
run(Supplier, Supplier) - Method in class yams.commands3.mechanisms.DoubleJointedArm: Set the position of the DoubleJointedArm to be at pose in meters.
run(Supplier) - Method in class yams.commands2.mechanisms.Arm: Set the arm to the given angle via a supplier.
run(Supplier) - Method in class yams.commands2.mechanisms.Pivot: Set the pivot to the given angle via a supplier.
run(Supplier) - Method in class yams.commands3.mechanisms.Arm: Set the arm to the given angle via a supplier.
run(Supplier) - Method in class yams.commands3.mechanisms.Pivot: Set the pivot to the given angle via a supplier.
run(Supplier, Supplier) - Method in class yams.commands2.mechanisms.DifferentialMechanism: Run the differential mechanism to a position.
run(Supplier, Supplier) - Method in class yams.commands3.mechanisms.DifferentialMechanism: Run the differential mechanism to a position.
run(Supplier) - Method in class yams.commands2.mechanisms.Elevator: Set the height of the elevator.
run(Supplier) - Method in class yams.commands3.mechanisms.Elevator: Set the height of the elevator.
run(Supplier) - Method in class yams.commands2.mechanisms.FlyWheel: Run the FlyWheel to a given velocity
run(Supplier) - Method in class yams.commands3.mechanisms.FlyWheel: Run the FlyWheel to a given velocity
run(Translation2d, boolean) - Method in class yams.commands2.mechanisms.DoubleJointedArm: Set the position of the DoubleJointedArm to be at pose in meters.
run(Translation2d, boolean) - Method in class yams.commands3.mechanisms.DoubleJointedArm: Set the position of the DoubleJointedArm to be at pose in meters.
run(Angle) - Method in class yams.commands2.mechanisms.Arm: Set the arm to the given angle.
run(Angle) - Method in class yams.commands2.mechanisms.Pivot: Set the pivot to the given angle.
run(Angle) - Method in class yams.commands3.mechanisms.Arm: Set the arm to the given angle.
run(Angle) - Method in class yams.commands3.mechanisms.Pivot: Set the pivot to the given angle.
run(Angle, Angle) - Method in class yams.commands2.mechanisms.DifferentialMechanism: Set the position of the differential mechanism.
run(Angle, Angle) - Method in class yams.commands3.mechanisms.DifferentialMechanism: Set the position of the differential mechanism.
run(AngularVelocity) - Method in class yams.commands2.mechanisms.FlyWheel: Set the FlyWheel to the given speed.
run(AngularVelocity) - Method in class yams.commands3.mechanisms.FlyWheel: Set the FlyWheel to the given speed.
run(Distance) - Method in class yams.commands2.mechanisms.Elevator: Set the height of the elevator.
run(Distance) - Method in class yams.commands3.mechanisms.Elevator: Set the height of the elevator.
run(LinearVelocity) - Method in class yams.commands2.mechanisms.FlyWheel: Set the FlyWheel to the given speed.
run(LinearVelocity) - Method in class yams.commands3.mechanisms.FlyWheel: Set the FlyWheel to the given speed.
Running the Mechanism - Section in package yams.core.mechanisms.velocity
runTo(Supplier, Supplier, Distance) - Method in class yams.commands2.mechanisms.DoubleJointedArm: Runs to the given target and stops the command.
runTo(Supplier, Supplier, Distance) - Method in class yams.commands3.mechanisms.DoubleJointedArm: Runs to the given target and stops the command.
runTo(Supplier, Angle) - Method in class yams.commands2.mechanisms.Arm: Set the arm to the given angle then end the command.
runTo(Supplier, Angle) - Method in class yams.commands2.mechanisms.Pivot: Set the pivot to the given angle then end the command.
runTo(Supplier, Angle) - Method in class yams.commands3.mechanisms.Arm: Set the arm to the given angle then end the command.
runTo(Supplier, Angle) - Method in class yams.commands3.mechanisms.Pivot: Set the pivot to the given angle then end the command.
runTo(Supplier, AngularVelocity) - Method in class yams.commands2.mechanisms.FlyWheel: Run the FlyWheel to a velocity within a tolerance, then end the command.
runTo(Supplier, AngularVelocity) - Method in class yams.commands3.mechanisms.FlyWheel: Run the FlyWheel to a velocity within a tolerance, then end the command.
runTo(Supplier, Distance) - Method in class yams.commands2.mechanisms.Elevator: Run the elevator to the desired height with a tolerance, then move on.
runTo(Supplier, Distance) - Method in class yams.commands3.mechanisms.Elevator: Run the elevator to the desired height with a tolerance, then move on.
runTo(Supplier, LinearVelocity) - Method in class yams.commands2.mechanisms.FlyWheel: Run the FlyWheel to a velocity within a tolerance then end the command.
runTo(Supplier, LinearVelocity) - Method in class yams.commands3.mechanisms.FlyWheel: Run the FlyWheel to a velocity within a tolerance then end the command.
runTo(Translation2d, boolean, Distance) - Method in class yams.commands2.mechanisms.DoubleJointedArm: Runs to the given target and stops the command.
runTo(Translation2d, boolean, Distance) - Method in class yams.commands3.mechanisms.DoubleJointedArm: Runs to the given target and stops the command.
runTo(Angle, Angle) - Method in class yams.commands2.mechanisms.Arm: Set the arm to the given angle then end the command.
runTo(Angle, Angle) - Method in class yams.commands2.mechanisms.Pivot: Set the pivot to the given Angle then end the command.
runTo(Angle, Angle) - Method in class yams.commands3.mechanisms.Arm: Set the arm to the given angle then end the command.
runTo(Angle, Angle) - Method in class yams.commands3.mechanisms.Pivot: Set the pivot to the given Angle then end the command.
runTo(AngularVelocity, AngularVelocity) - Method in class yams.commands2.mechanisms.FlyWheel: Run the FlyWheel to a velocity within a tolerance, then end the command.
runTo(AngularVelocity, AngularVelocity) - Method in class yams.commands3.mechanisms.FlyWheel: Run the FlyWheel to a velocity within a tolerance, then end the command.
runTo(Distance, Distance) - Method in class yams.commands2.mechanisms.Elevator: Run the elevator to the desired height with a tolerance, then move on.
runTo(Distance, Distance) - Method in class yams.commands3.mechanisms.Elevator: Run the elevator to the desired height with a tolerance, then move on.
runTo(LinearVelocity, LinearVelocity) - Method in class yams.commands2.mechanisms.FlyWheel: Run the FlyWheel to a velocity within a tolerance then end the command.
runTo(LinearVelocity, LinearVelocity) - Method in class yams.commands3.mechanisms.FlyWheel: Run the FlyWheel to a velocity within a tolerance then end the command.

S

SandwichPerSecond - Static variable in class yams.core.units.YUnits: 1 YUnits.FootlongSandwich per Units.Second
scaleTranslation(Translation2d, double) - Static method in class yams.core.mechanisms.config.SwerveDriveConfig: Scale the Translation2d Polar coordinate magnitude.
seedAzimuthEncoder() - Method in class yams.core.mechanisms.swerve.SwerveModule: Seed the azimuth encoder with the absolute encoder angle.
seedRelativeEncoder() - Method in class yams.core.motorcontrollers.local.NovaWrapper
seedRelativeEncoder() - Method in class yams.core.motorcontrollers.local.SparkWrapper
seedRelativeEncoder() - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
seedRelativeEncoder() - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper
seedRelativeEncoder() - Method in class yams.core.motorcontrollers.SmartMotorController: Seed the relative encoder with the position from the absolute encoder.
self() - Method in class yams.commands2.config.SmartMotorControllerConfig
self() - Method in class yams.commands2.config.SwerveDriveConfig
self() - Method in class yams.commands3.config.SmartMotorControllerConfig
self() - Method in class yams.commands3.config.SwerveDriveConfig
self() - Method in class yams.core.mechanisms.config.SwerveDriveConfig: Get this config as its concrete type, so chained with calls keep the subclass type.
self() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Get this config as its concrete type, so chained with calls keep the subclass type.
Sensor - Class in yams.core.motorcontrollers.simulation: Sensor class using SimDevice; All fields will use the given supplier on real robots.
Sensor(String, List) - Constructor for class yams.core.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.core.motorcontrollers.simulation.Sensor: Sensor simulation constructor.
SensorConfig - Class in yams.core.mechanisms.config: Sensor configuration for simulated and real sensors.
SensorConfig(String) - Constructor for class yams.core.mechanisms.config.SensorConfig: Sensor configuration.
SensorData - Class in yams.core.motorcontrollers.simulation: Sensor data class to encapsulate sensor data.
SensorData(String, BooleanSupplier, boolean) - Constructor for class yams.core.motorcontrollers.simulation.SensorData: Sensor data constructor.
SensorData(String, DoubleSupplier, double) - Constructor for class yams.core.motorcontrollers.simulation.SensorData: Sensor data constructor.
SensorData(String, IntSupplier, int) - Constructor for class yams.core.motorcontrollers.simulation.SensorData: Sensor data constructor.
SensorData(String, LongSupplier, long) - Constructor for class yams.core.motorcontrollers.simulation.SensorData: Sensor data constructor.
SensorData(String, Supplier, HALValue, SensorData.HALValueType) - Constructor for class yams.core.motorcontrollers.simulation.SensorData: Sensor data constructor.
SensorData.HALValueType - Enum Class in yams.core.motorcontrollers.simulation: HALValue type enum.
sensorToMechanismRatio(double...) - Static method in class yams.core.math.SmartMath: Create the sensor to mechanism ratio.
set(boolean) - Method in class yams.core.motorcontrollers.simulation.SensorData: Set the sensor value.
set(boolean) - Method in class yams.core.telemetry.BooleanTelemetry: Set the value of the publisher, checking to see if the value is the same as the subscriber.
set(double) - Method in interface yams.commands2.mechanisms.CommandMechanism: Set the DutyCycle of the SmartMotorController.
set(double) - Method in interface yams.commands3.mechanisms.CommandMechanism: Set the DutyCycle of the SmartMotorController.
set(double) - Method in class yams.core.motorcontrollers.simulation.SensorData: Set the sensor value.
set(double) - Method in class yams.core.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.commands2.mechanisms.DifferentialMechanism: Set the dutycycle of the differential mechanism.
set(double, double) - Method in class yams.commands3.mechanisms.DifferentialMechanism: Set the dutycycle of the differential mechanism.
set(int) - Method in class yams.core.motorcontrollers.simulation.SensorData: Set the sensor value.
set(long) - Method in class yams.core.motorcontrollers.simulation.SensorData: Set the sensor value.
set(Double, Double) - Method in class yams.commands2.mechanisms.DoubleJointedArm: Simple duty cycle command.
set(Double, Double) - Method in class yams.commands3.mechanisms.DoubleJointedArm: Simple duty cycle command.
set(Supplier) - Method in interface yams.commands2.mechanisms.CommandMechanism: Set the DutyCycle of the SmartMotorController.
set(Supplier) - Method in interface yams.commands3.mechanisms.CommandMechanism: Set the DutyCycle of the SmartMotorController.
set(HALValue) - Method in class yams.core.motorcontrollers.simulation.SensorData: Set the sensor value.
set(T) - Method in class yams.core.telemetry.StructTelemetry: Set the value of the publisher, checking to see if the value is the same as the subscriber.
set(T[]) - Method in class yams.core.telemetry.StructArrayTelemetry: Set the value of the publisher, checking to see if the value is the same as the subscriber.
setAllianceRelativeEnabled(boolean) - Method in class yams.commands2.swerve.SwerveInputStream: Enable or disable flipping translation 180 degrees while on the red alliance.
setAllianceRelativeEnabled(boolean) - Method in class yams.commands3.swerve.SwerveInputStream: Enable or disable flipping translation 180 degrees while on the red alliance.
setAngle(Supplier) - Method in class yams.commands2.mechanisms.Arm: Set the arm to the given angle via a supplier.
setAngle(Supplier) - Method in class yams.commands2.mechanisms.Pivot: Set the pivot to the given angle.
setAngle(Supplier) - Method in class yams.commands3.mechanisms.Arm: Set the arm to the given angle via a supplier.
setAngle(Supplier) - Method in class yams.commands3.mechanisms.Pivot: Set the pivot to the given angle.
setAngle(Angle) - Method in class yams.commands2.mechanisms.Arm: Set the arm to the given angle.
setAngle(Angle) - Method in class yams.commands2.mechanisms.Pivot: Set the pivot to the given angle.
setAngle(Angle) - Method in class yams.commands3.mechanisms.Arm: Set the arm to the given angle.
setAngle(Angle) - Method in class yams.commands3.mechanisms.Pivot: Set the pivot to the given angle.
setAngle(Angle, Angle) - Method in class yams.commands2.mechanisms.DoubleJointedArm: Set the shoulder and elbow angle of the DoubleJointedArm.
setAngle(Angle, Angle) - Method in class yams.commands3.mechanisms.DoubleJointedArm: Set the shoulder and elbow angle of the DoubleJointedArm.
setAxisDeadband(double) - Method in class yams.commands2.swerve.SwerveInputStream: Set the controller axis deadband.
setAxisDeadband(double) - Method in class yams.commands3.swerve.SwerveInputStream: Set the controller axis deadband.
setAzimuthAngle(Rotation2d) - Method in class yams.core.mechanisms.swerve.SwerveModule: Turn the wheel to the given angle without driving it, as for locking the drive in place or tuning the azimuth motor.
setAzimuthAngles(Rotation2d) - Method in class yams.core.mechanisms.swerve.SwerveDrive: Turn every module to the given angle without driving, as for tuning the azimuth motors.
setClosedLoopRampRate(Time) - Method in class yams.core.motorcontrollers.local.NovaWrapper: Set the closed loop ramp rate.
setClosedLoopRampRate(Time) - Method in class yams.core.motorcontrollers.local.SparkWrapper
setClosedLoopRampRate(Time) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
setClosedLoopRampRate(Time) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper
setClosedLoopRampRate(Time) - Method in class yams.core.motorcontrollers.SmartMotorController: Set the closed loop ramp rate.
setClosedLoopSlot(SmartMotorController.ClosedLoopControllerSlot) - Method in class yams.core.motorcontrollers.local.NovaWrapper
setClosedLoopSlot(SmartMotorController.ClosedLoopControllerSlot) - Method in class yams.core.motorcontrollers.local.SparkWrapper
setClosedLoopSlot(SmartMotorController.ClosedLoopControllerSlot) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper: Set the closed loop controller slot to use.
setClosedLoopSlot(SmartMotorController.ClosedLoopControllerSlot) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper: Set the closed loop controller slot to use.
setClosedLoopSlot(SmartMotorController.ClosedLoopControllerSlot) - Method in class yams.core.motorcontrollers.SmartMotorController: Set the closed loop controller slot to use.
setConstraints(ExponentialProfile.Constraints) - Method in class yams.core.math.ExponentialProfilePIDController: Sets the constraints for the ExponentialProfile.
setD(double) - Method in class yams.core.math.ExponentialProfilePIDController: Sets the Differential coefficient of the PID controller gain.
setDefaultValue(boolean) - Method in class yams.core.telemetry.BooleanTelemetry: Set the default value.
setDefaultValue(double) - Method in class yams.core.telemetry.DoubleTelemetry: Set default values.
setDefaultValue(T) - Method in class yams.core.telemetry.StructTelemetry: Set default values.
setDefaultValue(T[]) - Method in class yams.core.telemetry.StructArrayTelemetry: Set default values.
setDutyCycle(double) - Method in class yams.core.motorcontrollers.local.NovaWrapper
setDutyCycle(double) - Method in class yams.core.motorcontrollers.local.SparkWrapper
setDutyCycle(double) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
setDutyCycle(double) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper
setDutyCycle(double) - Method in class yams.core.motorcontrollers.SmartMotorController: Set the dutycycle output of the motor controller.
setDutyCycleSetpoint(double) - Method in class yams.core.mechanisms.SmartMechanism: Set the dutycycle of the SmartMotorController.
setEncoderInverted(boolean) - Method in class yams.core.motorcontrollers.local.NovaWrapper: Set the phase of the encoder attached to the brushless motor.
setEncoderInverted(boolean) - Method in class yams.core.motorcontrollers.local.SparkWrapper
setEncoderInverted(boolean) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
setEncoderInverted(boolean) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper
setEncoderInverted(boolean) - Method in class yams.core.motorcontrollers.SmartMotorController: Set the phase of the encoder attached to the brushless motor.
setEncoderPosition(Angle) - Method in class yams.core.motorcontrollers.local.NovaWrapper
setEncoderPosition(Angle) - Method in class yams.core.motorcontrollers.local.SparkWrapper
setEncoderPosition(Angle) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
setEncoderPosition(Angle) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper
setEncoderPosition(Angle) - Method in class yams.core.motorcontrollers.SmartMotorController: Set the encoder position
setEncoderPosition(Distance) - Method in class yams.core.motorcontrollers.local.NovaWrapper: Set the encoder position.
setEncoderPosition(Distance) - Method in class yams.core.motorcontrollers.local.SparkWrapper: Set the encoder position.
setEncoderPosition(Distance) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper: Set the encoder position.
setEncoderPosition(Distance) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper: Set the encoder position.
setEncoderPosition(Distance) - Method in class yams.core.motorcontrollers.SmartMotorController: Set the encoder position.
setEncoderVelocity(AngularVelocity) - Method in class yams.core.motorcontrollers.local.NovaWrapper: Set the encoder velocity
setEncoderVelocity(AngularVelocity) - Method in class yams.core.motorcontrollers.local.SparkWrapper: Set the encoder velocity
setEncoderVelocity(AngularVelocity) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
setEncoderVelocity(AngularVelocity) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper
setEncoderVelocity(AngularVelocity) - Method in class yams.core.motorcontrollers.SmartMotorController: Set the encoder velocity
setEncoderVelocity(LinearVelocity) - Method in class yams.core.motorcontrollers.local.NovaWrapper: Set the encoder velocity.
setEncoderVelocity(LinearVelocity) - Method in class yams.core.motorcontrollers.local.SparkWrapper: Set the encoder velocity.
setEncoderVelocity(LinearVelocity) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper: Set the encoder velocity.
setEncoderVelocity(LinearVelocity) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper: Set the encoder velocity.
setEncoderVelocity(LinearVelocity) - Method in class yams.core.motorcontrollers.SmartMotorController: Set the encoder velocity.
setExponentialProfile(OptionalDouble, OptionalDouble, Optional) - Method in class yams.core.motorcontrollers.local.NovaWrapper
setExponentialProfile(OptionalDouble, OptionalDouble, Optional) - Method in class yams.core.motorcontrollers.local.SparkWrapper: Set the exponential profile fields.
setExponentialProfile(OptionalDouble, OptionalDouble, Optional) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
setExponentialProfile(OptionalDouble, OptionalDouble, Optional) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper
setExponentialProfile(OptionalDouble, OptionalDouble, Optional) - Method in class yams.core.motorcontrollers.SmartMotorController: Set the exponential profile fields.
setFeedback(double, double, double) - Method in class yams.core.motorcontrollers.local.NovaWrapper
setFeedback(double, double, double) - Method in class yams.core.motorcontrollers.local.SparkWrapper
setFeedback(double, double, double) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
setFeedback(double, double, double) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper: Set the closed loop feedback controller PID.
setFeedback(double, double, double) - Method in class yams.core.motorcontrollers.SmartMotorController: Set the closed loop feedback controller PID.
setFeedforward(double, double, double, double) - Method in class yams.core.motorcontrollers.local.NovaWrapper
setFeedforward(double, double, double, double) - Method in class yams.core.motorcontrollers.local.SparkWrapper
setFeedforward(double, double, double, double) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
setFeedforward(double, double, double, double) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper: Set the feedforward controller.
setFeedforward(double, double, double, double) - Method in class yams.core.motorcontrollers.SmartMotorController: Set the feedforward controller.
setFieldRelativeChassisSpeeds(ChassisVelocities) - Method in class yams.core.mechanisms.swerve.SwerveDrive: Set field relative chassis speeds.
setHeight(Supplier) - Method in class yams.commands2.mechanisms.Elevator: Set the height of the elevator.
setHeight(Supplier) - Method in class yams.commands3.mechanisms.Elevator: Set the height of the elevator.
setHeight(Distance) - Method in class yams.commands2.mechanisms.Elevator: Set the height of the elevator.
setHeight(Distance) - Method in class yams.commands3.mechanisms.Elevator: Set the height of the elevator.
setI(double) - Method in class yams.core.math.ExponentialProfilePIDController: Sets the Integral coefficient of the PID controller gain.
setKa(double) - Method in class yams.core.motorcontrollers.local.NovaWrapper
setKa(double) - Method in class yams.core.motorcontrollers.local.SparkWrapper
setKa(double) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
setKa(double) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper: Acceleration feedforward element.
setKa(double) - Method in class yams.core.motorcontrollers.SmartMotorController: Acceleration feedforward element.
setKd(double) - Method in class yams.core.motorcontrollers.local.NovaWrapper
setKd(double) - Method in class yams.core.motorcontrollers.local.SparkWrapper
setKd(double) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
setKd(double) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper: Set kD for the feedback controller PID.
setKd(double) - Method in class yams.core.motorcontrollers.SmartMotorController: Set kD for the feedback controller PID.
setKg(double) - Method in class yams.core.motorcontrollers.local.NovaWrapper
setKg(double) - Method in class yams.core.motorcontrollers.local.SparkWrapper
setKg(double) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
setKg(double) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper: kSin feedforward element.
setKg(double) - Method in class yams.core.motorcontrollers.SmartMotorController: kSin feedforward element.
setKi(double) - Method in class yams.core.motorcontrollers.local.NovaWrapper
setKi(double) - Method in class yams.core.motorcontrollers.local.SparkWrapper
setKi(double) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
setKi(double) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper: Set kI for the feedback controller PID.
setKi(double) - Method in class yams.core.motorcontrollers.SmartMotorController: Set kI for the feedback controller PID.
setKp(double) - Method in class yams.core.motorcontrollers.local.NovaWrapper
setKp(double) - Method in class yams.core.motorcontrollers.local.SparkWrapper
setKp(double) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
setKp(double) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper: Set kP for the feedback controller PID.
setKp(double) - Method in class yams.core.motorcontrollers.SmartMotorController: Set kP for the feedback controller PID.
setKs(double) - Method in class yams.core.motorcontrollers.local.NovaWrapper
setKs(double) - Method in class yams.core.motorcontrollers.local.SparkWrapper
setKs(double) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
setKs(double) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper: Static feedforward element.
setKs(double) - Method in class yams.core.motorcontrollers.SmartMotorController: Static feedforward element.
setKv(double) - Method in class yams.core.motorcontrollers.local.NovaWrapper
setKv(double) - Method in class yams.core.motorcontrollers.local.SparkWrapper
setKv(double) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
setKv(double) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper: Velocity feedforward element.
setKv(double) - Method in class yams.core.motorcontrollers.SmartMotorController: Velocity feedforward element.
setMaximumChassisAngularVelocity(AngularVelocity) - Method in class yams.commands2.swerve.SwerveInputStream: Set the chassis angular velocity a full angular velocity axis maps to.
setMaximumChassisAngularVelocity(AngularVelocity) - Method in class yams.commands3.swerve.SwerveInputStream: Set the chassis angular velocity a full angular velocity axis maps to.
setMaximumChassisLinearVelocity(LinearVelocity) - Method in class yams.commands2.swerve.SwerveInputStream: Set the chassis linear velocity a full translation axis maps to.
setMaximumChassisLinearVelocity(LinearVelocity) - Method in class yams.commands3.swerve.SwerveInputStream: Set the chassis linear velocity a full translation axis maps to.
setMeasurementLowerLimit(Distance) - Method in class yams.core.motorcontrollers.local.NovaWrapper: Set the measurement lower limit, only works if mechanism circumference is defined.
setMeasurementLowerLimit(Distance) - Method in class yams.core.motorcontrollers.local.SparkWrapper: Set the measurement lower limit, only works if mechanism circumference is defined.
setMeasurementLowerLimit(Distance) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper: Set the measurement lower limit, only works if mechanism circumference is defined.
setMeasurementLowerLimit(Distance) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper: Set the measurement lower limit, only works if mechanism circumference is defined.
setMeasurementLowerLimit(Distance) - Method in class yams.core.motorcontrollers.SmartMotorController: Set the measurement lower limit, only works if mechanism circumference is defined.
setMeasurementPositionSetpoint(Distance) - Method in class yams.core.mechanisms.SmartMechanism: Sets the SmartMotorController to the given distance.
setMeasurementUpperLimit(Distance) - Method in class yams.core.motorcontrollers.local.NovaWrapper: Set the measurement upper limit, only works if mechanism circumference is defined.
setMeasurementUpperLimit(Distance) - Method in class yams.core.motorcontrollers.local.SparkWrapper: Set the measurement upper limit, only works if mechanism circumference is defined.
setMeasurementUpperLimit(Distance) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper: Set the measurement upper limit, only works if mechanism circumference is defined.
setMeasurementUpperLimit(Distance) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper: Set the measurement upper limit, only works if mechanism circumference is defined.
setMeasurementUpperLimit(Distance) - Method in class yams.core.motorcontrollers.SmartMotorController: Set the measurement upper limit, only works if mechanism circumference is defined.
setMeasurementVelocitySetpoint(LinearVelocity) - Method in class yams.core.mechanisms.SmartMechanism: Set the SmartMotorController to the given speed.
setMeasurementVelocitySetpoint(LinearVelocity) - Method in class yams.core.mechanisms.velocity.FlyWheel: Set the FlyWheel to the given speed.
setMechanismCircumference(Distance) - Method in class yams.core.motorcontrollers.local.NovaWrapper
setMechanismCircumference(Distance) - Method in class yams.core.motorcontrollers.local.SparkWrapper
setMechanismCircumference(Distance) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
setMechanismCircumference(Distance) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper
setMechanismCircumference(Distance) - Method in class yams.core.motorcontrollers.SmartMotorController: Update the mechanism circumference used for linear position/velocity conversions.
setMechanismGearing(MechanismGearing) - Method in class yams.core.motorcontrollers.local.NovaWrapper
setMechanismGearing(MechanismGearing) - Method in class yams.core.motorcontrollers.local.SparkWrapper
setMechanismGearing(MechanismGearing) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
setMechanismGearing(MechanismGearing) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper
setMechanismGearing(MechanismGearing) - Method in class yams.core.motorcontrollers.SmartMotorController: Update the mechanism gearing used for position/velocity conversions.
setMechanismLimits(Angle, Angle) - Method in class yams.core.motorcontrollers.local.NovaWrapper: Set the Mechanism limits for the motor controller.
setMechanismLimits(Angle, Angle) - Method in class yams.core.motorcontrollers.local.SparkWrapper: Set the Mechanism limits for the motor controller.
setMechanismLimits(Angle, Angle) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper: Set the Mechanism limits for the motor controller.
setMechanismLimits(Angle, Angle) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper: Set the Mechanism limits for the motor controller.
setMechanismLimits(Angle, Angle) - Method in class yams.core.motorcontrollers.SmartMotorController: Set the Mechanism limits for the motor controller.
setMechanismLimitsEnabled(boolean) - Method in class yams.core.motorcontrollers.local.NovaWrapper
setMechanismLimitsEnabled(boolean) - Method in class yams.core.motorcontrollers.local.SparkWrapper
setMechanismLimitsEnabled(boolean) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
setMechanismLimitsEnabled(boolean) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper
setMechanismLimitsEnabled(boolean) - Method in class yams.core.motorcontrollers.SmartMotorController: Enable or disable the mechanism/measurement limits in the motor controller.
setMechanismLowerLimit(Angle) - Method in class yams.core.motorcontrollers.local.NovaWrapper: Set the mechanism lower limit.
setMechanismLowerLimit(Angle) - Method in class yams.core.motorcontrollers.local.SparkWrapper: Set the mechanism lower limit.
setMechanismLowerLimit(Angle) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper: Set the mechanism lower limit.
setMechanismLowerLimit(Angle) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper: Set the mechanism lower limit.
setMechanismLowerLimit(Angle) - Method in class yams.core.motorcontrollers.SmartMotorController: Set the mechanism lower limit.
setMechanismPosition(Angle) - Method in interface yams.core.motorcontrollers.SimSupplier: Set the Mechanism position
setMechanismPosition(Angle) - Method in class yams.core.motorcontrollers.simulation.ArmSimSupplier
setMechanismPosition(Angle) - Method in class yams.core.motorcontrollers.simulation.DCMotorSimSupplier
setMechanismPosition(Angle) - Method in class yams.core.motorcontrollers.simulation.ElevatorSimSupplier: Set the Mechanism position
setMechanismPositionSetpoint(Angle) - Method in class yams.core.mechanisms.SmartMechanism: Sets the SmartMotorController to the given angle.
setMechanismStatorDutyCycle(double) - Method in interface yams.core.motorcontrollers.SimSupplier: Set the dutycyle of the mechanism stator.
setMechanismStatorDutyCycle(double) - Method in class yams.core.motorcontrollers.simulation.ArmSimSupplier
setMechanismStatorDutyCycle(double) - Method in class yams.core.motorcontrollers.simulation.DCMotorSimSupplier
setMechanismStatorDutyCycle(double) - Method in class yams.core.motorcontrollers.simulation.ElevatorSimSupplier
setMechanismStatorVoltage(Voltage) - Method in interface yams.core.motorcontrollers.SimSupplier: Set mechanism voltage, mostly used for SysId testing.
setMechanismStatorVoltage(Voltage) - Method in class yams.core.motorcontrollers.simulation.ArmSimSupplier
setMechanismStatorVoltage(Voltage) - Method in class yams.core.motorcontrollers.simulation.DCMotorSimSupplier
setMechanismStatorVoltage(Voltage) - Method in class yams.core.motorcontrollers.simulation.ElevatorSimSupplier
setMechanismUpperLimit(Angle) - Method in class yams.core.motorcontrollers.local.NovaWrapper: Set the mechanism upper limit.
setMechanismUpperLimit(Angle) - Method in class yams.core.motorcontrollers.local.SparkWrapper: Set the mechanism upper limit.
setMechanismUpperLimit(Angle) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper: Set the mechanism upper limit.
setMechanismUpperLimit(Angle) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper: Set the mechanism upper limit.
setMechanismUpperLimit(Angle) - Method in class yams.core.motorcontrollers.SmartMotorController: Set the mechanism upper limit.
setMechanismVelocity(AngularVelocity) - Method in interface yams.core.motorcontrollers.SimSupplier: Set the Mechanism velocity.
setMechanismVelocity(AngularVelocity) - Method in class yams.core.motorcontrollers.simulation.ArmSimSupplier
setMechanismVelocity(AngularVelocity) - Method in class yams.core.motorcontrollers.simulation.DCMotorSimSupplier
setMechanismVelocity(AngularVelocity) - Method in class yams.core.motorcontrollers.simulation.ElevatorSimSupplier: Set the Mechanism velocity.
setMechanismVelocitySetpoint(AngularVelocity) - Method in class yams.core.mechanisms.SmartMechanism: Set the SmartMotorController to the given speed.
setMotionProfileMaxAcceleration(AngularAcceleration) - Method in class yams.core.motorcontrollers.local.NovaWrapper
setMotionProfileMaxAcceleration(AngularAcceleration) - Method in class yams.core.motorcontrollers.local.SparkWrapper
setMotionProfileMaxAcceleration(AngularAcceleration) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
setMotionProfileMaxAcceleration(AngularAcceleration) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper
setMotionProfileMaxAcceleration(AngularAcceleration) - Method in class yams.core.motorcontrollers.SmartMotorController: Set the maximum acceleration for the trapezoidal profile for the feedback controller.
setMotionProfileMaxAcceleration(LinearAcceleration) - Method in class yams.core.motorcontrollers.local.NovaWrapper: Set the maximum acceleration of the trapezoidal profile for the feedback controller.
setMotionProfileMaxAcceleration(LinearAcceleration) - Method in class yams.core.motorcontrollers.local.SparkWrapper: Set the maximum acceleration of the trapezoidal profile for the feedback controller.
setMotionProfileMaxAcceleration(LinearAcceleration) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper: Set the maximum acceleration of the trapezoidal profile for the feedback controller.
setMotionProfileMaxAcceleration(LinearAcceleration) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper: Set the maximum acceleration of the trapezoidal profile for the feedback controller.
setMotionProfileMaxAcceleration(LinearAcceleration) - Method in class yams.core.motorcontrollers.SmartMotorController: Set the maximum acceleration of the trapezoidal profile for the feedback controller.
setMotionProfileMaxJerk(Velocity) - Method in class yams.core.motorcontrollers.local.NovaWrapper
setMotionProfileMaxJerk(Velocity) - Method in class yams.core.motorcontrollers.local.SparkWrapper
setMotionProfileMaxJerk(Velocity) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
setMotionProfileMaxJerk(Velocity) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper
setMotionProfileMaxJerk(Velocity) - Method in class yams.core.motorcontrollers.SmartMotorController: Set the maximum jerk for the trapezoidal profile for the feedback controller.
setMotionProfileMaxVelocity(AngularVelocity) - Method in class yams.core.motorcontrollers.local.NovaWrapper
setMotionProfileMaxVelocity(AngularVelocity) - Method in class yams.core.motorcontrollers.local.SparkWrapper
setMotionProfileMaxVelocity(AngularVelocity) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
setMotionProfileMaxVelocity(AngularVelocity) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper
setMotionProfileMaxVelocity(AngularVelocity) - Method in class yams.core.motorcontrollers.SmartMotorController: Set the maximum velocity for the trapezoidal profile for the feedback controller.
setMotionProfileMaxVelocity(LinearVelocity) - Method in class yams.core.motorcontrollers.local.NovaWrapper: Set the maximum velocity of the trapezoidal profile for the feedback controller.
setMotionProfileMaxVelocity(LinearVelocity) - Method in class yams.core.motorcontrollers.local.SparkWrapper: Set the maximum velocity of the trapezoidal profile for the feedback controller.
setMotionProfileMaxVelocity(LinearVelocity) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper: Set the maximum velocity of the trapezoidal profile for the feedback controller.
setMotionProfileMaxVelocity(LinearVelocity) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper: Set the maximum velocity of the trapezoidal profile for the feedback controller.
setMotionProfileMaxVelocity(LinearVelocity) - Method in class yams.core.motorcontrollers.SmartMotorController: Set the maximum velocity of the trapezoidal profile for the feedback controller.
setMotorInverted(boolean) - Method in class yams.core.motorcontrollers.local.NovaWrapper
setMotorInverted(boolean) - Method in class yams.core.motorcontrollers.local.SparkWrapper
setMotorInverted(boolean) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
setMotorInverted(boolean) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper
setMotorInverted(boolean) - Method in class yams.core.motorcontrollers.SmartMotorController: Set the inversion state of the motor.
setOmegaAxisScale(double) - Method in class yams.commands2.swerve.SwerveInputStream: Set the angular velocity axis scalar.
setOmegaAxisScale(double) - Method in class yams.commands3.swerve.SwerveInputStream: Set the angular velocity axis scalar.
setOmegaCubeEnabled(boolean) - Method in class yams.commands2.swerve.SwerveInputStream: Enable or disable cubing the angular velocity axis.
setOmegaCubeEnabled(boolean) - Method in class yams.commands3.swerve.SwerveInputStream: Enable or disable cubing the angular velocity axis.
setOpenLoopRampRate(Time) - Method in class yams.core.motorcontrollers.local.NovaWrapper: Set the open loop ramp rate.
setOpenLoopRampRate(Time) - Method in class yams.core.motorcontrollers.local.SparkWrapper
setOpenLoopRampRate(Time) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
setOpenLoopRampRate(Time) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper
setOpenLoopRampRate(Time) - Method in class yams.core.motorcontrollers.SmartMotorController: Set the open loop ramp rate.
setP(double) - Method in class yams.core.math.ExponentialProfilePIDController: Sets the Proportional coefficient of the PID controller gain.
Setpoint Commands - Section in package yams.core.mechanisms.positional
setpointFeedforwardForce - Variable in class yams.core.motorcontrollers.SmartMotorController: Setpoint feedforward force, applied on top of the velocity setpoint, e.g.
SetpointForce - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: Setpoint feedforward force, e.g.
setpointPosition - Variable in class yams.core.motorcontrollers.SmartMotorController: Setpoint position
SetpointPosition - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: Setpoint position
setpointVelocity - Variable in class yams.core.motorcontrollers.SmartMotorController: Setpoint velocity.
SetpointVelocity - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: Setpoint velocity
setPosition(Supplier, Supplier) - Method in class yams.commands2.mechanisms.DifferentialMechanism: Set the position of the differential mechanism using suppliers.
setPosition(Supplier, Supplier) - Method in class yams.commands3.mechanisms.DifferentialMechanism: Set the position of the differential mechanism using suppliers.
setPosition(Translation2d, boolean) - Method in class yams.commands2.mechanisms.DoubleJointedArm: Set the position of the DoubleJointedArm to be at pose in meters.
setPosition(Translation2d, boolean) - Method in class yams.commands3.mechanisms.DoubleJointedArm: Set the position of the DoubleJointedArm to be at pose in meters.
setPosition(Angle) - Method in class yams.core.motorcontrollers.local.NovaWrapper
setPosition(Angle) - Method in class yams.core.motorcontrollers.local.SparkWrapper
setPosition(Angle) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper: Set the Mechanism Angle using the PID and feedforward from SmartMotorControllerConfig.
setPosition(Angle) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper: Set the Mechanism Angle using the PID and feedforward from SmartMotorControllerConfig.
setPosition(Angle) - Method in class yams.core.motorcontrollers.SmartMotorController: Set the Mechanism Angle using the PID and feedforward from SmartMotorControllerConfig.
setPosition(Angle, Angle) - Method in class yams.commands2.mechanisms.DifferentialMechanism: Set the position of the differential mechanism.
setPosition(Angle, Angle) - Method in class yams.commands3.mechanisms.DifferentialMechanism: Set the position of the differential mechanism.
setPosition(Distance) - Method in class yams.core.motorcontrollers.local.NovaWrapper: Set the Mechanism Distance using the PID and feedforward from SmartMotorControllerConfig.
setPosition(Distance) - Method in class yams.core.motorcontrollers.local.SparkWrapper: Set the Mechanism Distance using the PID and feedforward from SmartMotorControllerConfig.
setPosition(Distance) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper: Set the Mechanism Distance using the PID and feedforward from SmartMotorControllerConfig.
setPosition(Distance) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper: Set the Mechanism Distance using the PID and feedforward from SmartMotorControllerConfig.
setPosition(Distance) - Method in class yams.core.motorcontrollers.SmartMotorController: Set the Mechanism Distance using the PID and feedforward from SmartMotorControllerConfig.
setRobotRelativeChassisSpeeds(ChassisVelocities) - Method in class yams.core.mechanisms.swerve.SwerveDrive: Set robot relative chassis speeds.
setRobotRelativeChassisSpeeds(ChassisVelocities, Force[]) - Method in class yams.core.mechanisms.swerve.SwerveDrive: Set robot relative chassis speeds, with an additional drive wheel feedforward Force applied per module, e.g.
setRobotRelativeEnabled(boolean) - Method in class yams.commands2.swerve.SwerveInputStream: Enable or disable treating the translation axes as robot relative.
setRobotRelativeEnabled(boolean) - Method in class yams.commands3.swerve.SwerveInputStream: Enable or disable treating the translation axes as robot relative.
setRotationPID(PIDController) - Method in class yams.core.mechanisms.swerve.SwerveDrive: Set the auto-align rotational PID controller.
setSimSupplier(SimSupplier) - Method in class yams.core.motorcontrollers.SmartMotorController: Set the SimSupplier Mechanism.
setStatorCurrentLimit(Current) - Method in class yams.core.motorcontrollers.local.NovaWrapper
setStatorCurrentLimit(Current) - Method in class yams.core.motorcontrollers.local.SparkWrapper
setStatorCurrentLimit(Current) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
setStatorCurrentLimit(Current) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper
setStatorCurrentLimit(Current) - Method in class yams.core.motorcontrollers.SmartMotorController: Set the stator current limit for the device.
setSupplyCurrentLimit(Current) - Method in class yams.core.motorcontrollers.local.NovaWrapper
setSupplyCurrentLimit(Current) - Method in class yams.core.motorcontrollers.local.SparkWrapper: Deprecated.
setSupplyCurrentLimit(Current) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper: Deprecated.
setSupplyCurrentLimit(Current) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper: Deprecated.
setSupplyCurrentLimit(Current) - Method in class yams.core.motorcontrollers.SmartMotorController: Set the supply current limit.
setSwerveModuleState(SwerveModuleVelocity) - Method in class yams.core.mechanisms.swerve.SwerveModule: Set the SwerveModuleVelocity of the module.
setSwerveModuleState(SwerveModuleVelocity, Force) - Method in class yams.core.mechanisms.swerve.SwerveModule: Set the SwerveModuleVelocity of the module with an additional drive wheel feedforward Force applied on top, e.g.
setSwerveModuleStates(SwerveModuleVelocity[]) - Method in class yams.core.mechanisms.swerve.SwerveDrive: Set the SwerveModuleVelocitys of the swerve drive directly.
setSwerveModuleStates(SwerveModuleVelocity[], Force[]) - Method in class yams.core.mechanisms.swerve.SwerveDrive: Set the SwerveModuleVelocitys of the swerve drive directly, with an additional drive wheel feedforward Force applied per module, e.g.
setTolerance(double) - Method in class yams.core.math.ExponentialProfilePIDController: Sets the error which is considered tolerable for use with atSetpoint().
setTranslationAxisScale(double) - Method in class yams.commands2.swerve.SwerveInputStream: Set the translation axis scalar.
setTranslationAxisScale(double) - Method in class yams.commands3.swerve.SwerveInputStream: Set the translation axis scalar.
setTranslationCubeEnabled(boolean) - Method in class yams.commands2.swerve.SwerveInputStream: Enable or disable cubing the translation magnitude.
setTranslationCubeEnabled(boolean) - Method in class yams.commands3.swerve.SwerveInputStream: Enable or disable cubing the translation magnitude.
setTranslationPID(PIDController) - Method in class yams.core.mechanisms.swerve.SwerveDrive: Sets the auto-align translation PID controller.
setupDataLog(String) - Method in class yams.core.telemetry.BooleanTelemetry: Setup the DataLog entry for this telemetry field.
setupDataLog(String) - Method in class yams.core.telemetry.DoubleTelemetry: Setup the DataLog with this entry.
setupDataLog(String) - Method in class yams.core.telemetry.StructArrayTelemetry: Setup the DataLog with this entry.
setupDataLog(String) - Method in class yams.core.telemetry.StructTelemetry: Setup the DataLog with this entry.
setUpdateFrequency(Frequency) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper: Set the update frequency of the StatusSignals used by this SmartMotorController
setUpdateFrequency(Frequency) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper: Set the update frequency of the StatusSignals used by this SmartMotorController
setupLiveTuning() - Method in class yams.commands2.config.SmartMotorControllerConfig: Set up live tuning for the SmartMotorController this config is attached to: registers a shared "Live Tuning" Command on SmartMotorControllerConfig.getSubsystem() via SmartMotorControllerCommandRegistry that pulls tuned values from NetworkTables each loop, and registers cleanup so the registration is removed when the controller is closed.
setupLiveTuning() - Method in class yams.commands3.config.SmartMotorControllerConfig: Set up live tuning for the SmartMotorController this config is attached to: registers a shared "Live Tuning" Command on SmartMotorControllerConfig.getMechanism() via SmartMotorControllerCommandRegistry that pulls tuned values from NetworkTables each loop, and registers cleanup so the registration is removed when the controller is closed.
setupLiveTuning() - Method in class yams.core.motorcontrollers.SmartMotorController: Set up live tuning for this SmartMotorController when its telemetry verbosity is TelemetryVerbosity.HIGH, so the values under the Tuning table are applied while the "Live Tuning" command runs.
setupLiveTuning() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Setup live tuning for the SmartMotorController
setupLoopTime() - Method in class yams.core.telemetry.MechanismTelemetry: Setup loop time publisher.
setupNetworkTable(NetworkTable) - Method in class yams.core.telemetry.BooleanTelemetry: Setup network tables.
setupNetworkTable(NetworkTable) - Method in class yams.core.telemetry.DoubleTelemetry: Setup network tables.
setupNetworkTable(NetworkTable) - Method in class yams.core.telemetry.StructArrayTelemetry: Setup network tables.
setupNetworkTable(NetworkTable) - Method in class yams.core.telemetry.StructTelemetry: Setup network tables.
setupNetworkTables(NetworkTable, NetworkTable) - Method in class yams.core.telemetry.BooleanTelemetry: Setup network tables.
setupNetworkTables(NetworkTable, NetworkTable) - Method in class yams.core.telemetry.DoubleTelemetry: Setup network tables.
setupNetworkTables(NetworkTable, NetworkTable) - Method in class yams.core.telemetry.StructArrayTelemetry: Setup network tables.
setupNetworkTables(NetworkTable, NetworkTable) - Method in class yams.core.telemetry.StructTelemetry: Setup network tables.
setupSimulation() - Method in class yams.core.motorcontrollers.local.NovaWrapper
setupSimulation() - Method in class yams.core.motorcontrollers.local.SparkWrapper
setupSimulation() - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
setupSimulation() - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper
setupSimulation() - Method in class yams.core.motorcontrollers.SmartMotorController: Setup the simulation for the wrapper.
setupTelemetry() - Method in class yams.core.motorcontrollers.SmartMotorController: Setup Telemetry with default NT path
setupTelemetry(String) - Method in class yams.core.mechanisms.swerve.SwerveModule: Setup telemetry for the module; the SwerveModuleTelemetry config used is either the one supplied via SwerveModuleConfig.withTelemetry(String, SwerveModuleTelemetryConfig) or a default built from SwerveModuleConfig.getTelemetryVerbosity() (defaulting to TelemetryVerbosity.HIGH).
setupTelemetry(String) - Method in class yams.core.telemetry.MechanismTelemetry: Setup telemetry for the Mechanism and motor controller.
setupTelemetry(String, String) - Method in class yams.core.telemetry.MechanismTelemetry: Setup telemetry for the Mechanism, additionally logging every field published through MechanismTelemetry.publishDouble(String, String), MechanismTelemetry.publishStruct(String, Struct), and MechanismTelemetry.publishStructArray(String, Struct) to a WPILib DataLog under the given name.
setupTelemetry(String, SwerveModule) - Method in class yams.core.telemetry.SwerveModuleTelemetry: Setup telemetry for the module.
setupTelemetry(String, SmartMotorController) - Method in class yams.core.telemetry.MechanismTelemetry: Setup telemetry for the Mechanism and motor controller.
setupTelemetry(NetworkTable, NetworkTable) - Method in class yams.core.motorcontrollers.SmartMotorController: Update the telemetry under the motor name under the given NetworkTable
setupTelemetry(SwerveDrive) - Method in class yams.core.telemetry.SwerveDriveTelemetry: Setup telemetry for the drive.
setupTelemetry(SmartMotorController, NetworkTable, NetworkTable, SmartMotorControllerTelemetryConfig) - Method in class yams.core.telemetry.SmartMotorControllerTelemetry: Setup Telemetry Pub/Sub fields.
setVelocity(AngularVelocity) - Method in class yams.core.motorcontrollers.local.NovaWrapper
setVelocity(AngularVelocity) - Method in class yams.core.motorcontrollers.local.SparkWrapper
setVelocity(AngularVelocity) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper: Set the Mechanism AngularVelocity using the PID and feedforward from SmartMotorControllerConfig.
setVelocity(AngularVelocity) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper: Set the Mechanism AngularVelocity using the PID and feedforward from SmartMotorControllerConfig.
setVelocity(AngularVelocity) - Method in class yams.core.motorcontrollers.SmartMotorController: Set the Mechanism AngularVelocity using the PID and feedforward from SmartMotorControllerConfig.
setVelocity(AngularVelocity, Force) - Method in class yams.core.motorcontrollers.local.NovaWrapper
setVelocity(AngularVelocity, Force) - Method in class yams.core.motorcontrollers.local.SparkWrapper: Set the Mechanism AngularVelocity using the PID and feedforward from SmartMotorControllerConfig, with an additional feedforward Force applied on top, e.g.
setVelocity(AngularVelocity, Force) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper: Set the Mechanism AngularVelocity using the PID and feedforward from SmartMotorControllerConfig, with an additional feedforward Force applied on top, e.g.
setVelocity(AngularVelocity, Force) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper: Set the Mechanism AngularVelocity using the PID and feedforward from SmartMotorControllerConfig, with an additional feedforward Force applied on top, e.g.
setVelocity(AngularVelocity, Force) - Method in class yams.core.motorcontrollers.SmartMotorController: Set the Mechanism AngularVelocity using the PID and feedforward from SmartMotorControllerConfig, with an additional feedforward Force applied on top, e.g.
setVelocity(LinearVelocity) - Method in class yams.core.motorcontrollers.local.NovaWrapper: Set the Mechanism LinearVelocity using the PID and feedforward from SmartMotorControllerConfig.
setVelocity(LinearVelocity) - Method in class yams.core.motorcontrollers.local.SparkWrapper: Set the Mechanism LinearVelocity using the PID and feedforward from SmartMotorControllerConfig.
setVelocity(LinearVelocity) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper: Set the Mechanism LinearVelocity using the PID and feedforward from SmartMotorControllerConfig.
setVelocity(LinearVelocity) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper: Set the Mechanism LinearVelocity using the PID and feedforward from SmartMotorControllerConfig.
setVelocity(LinearVelocity) - Method in class yams.core.motorcontrollers.SmartMotorController: Set the Mechanism LinearVelocity using the PID and feedforward from SmartMotorControllerConfig.
setVelocity(LinearVelocity, Force) - Method in class yams.core.motorcontrollers.SmartMotorController: Set the Mechanism LinearVelocity using the PID and feedforward from SmartMotorControllerConfig, with an additional feedforward Force applied on top, e.g.
setVisionMeasurementStdDevs(Matrix) - Method in class yams.core.mechanisms.swerve.SwerveDrive: Sets the pose estimator's trust of global measurements.
setVoltage(Supplier) - Method in interface yams.commands2.mechanisms.CommandMechanism: Set the voltage of the SmartMotorController.
setVoltage(Supplier) - Method in interface yams.commands3.mechanisms.CommandMechanism: Set the voltage of the SmartMotorController.
setVoltage(Voltage) - Method in interface yams.commands2.mechanisms.CommandMechanism: Set the voltage of the SmartMotorController.
setVoltage(Voltage) - Method in interface yams.commands3.mechanisms.CommandMechanism: Set the voltage of the SmartMotorController.
setVoltage(Voltage) - Method in class yams.core.motorcontrollers.local.NovaWrapper
setVoltage(Voltage) - Method in class yams.core.motorcontrollers.local.SparkWrapper
setVoltage(Voltage) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
setVoltage(Voltage) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper
setVoltage(Voltage) - Method in class yams.core.motorcontrollers.SmartMotorController: Set the voltage output of the motor controller.
setVoltageSetpoint(Voltage) - Method in class yams.core.mechanisms.SmartMechanism: Set the voltage of the SmartMotorController.
setZeroPower(MotorMode) - Method in class yams.core.motorcontrollers.local.NovaWrapper
setZeroPower(MotorMode) - Method in class yams.core.motorcontrollers.local.SparkWrapper
setZeroPower(MotorMode) - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
setZeroPower(MotorMode) - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper
setZeroPower(MotorMode) - Method in class yams.core.motorcontrollers.SmartMotorController: Set the motor zero power mode from COAST or BRAKE.
simIterate() - Method in class yams.core.mechanisms.positional.Arm
simIterate() - Method in class yams.core.mechanisms.positional.DifferentialMechanism
simIterate() - Method in class yams.core.mechanisms.positional.DoubleJointedArm
simIterate() - Method in class yams.core.mechanisms.positional.Elevator
simIterate() - Method in class yams.core.mechanisms.positional.Pivot
simIterate() - Method in class yams.core.mechanisms.SmartMechanism: Iterate sim
simIterate() - Method in class yams.core.mechanisms.swerve.SwerveDrive: Simulate the drive, updating the gyroscope based off of module states.
simIterate() - Method in class yams.core.mechanisms.swerve.SwerveModule: Update the simulation of the module.
simIterate() - Method in class yams.core.mechanisms.velocity.FlyWheel
simIterate() - Method in class yams.core.motorcontrollers.local.NovaWrapper
simIterate() - Method in class yams.core.motorcontrollers.local.SparkWrapper
simIterate() - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper
simIterate() - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper
simIterate() - Method in class yams.core.motorcontrollers.SmartMotorController: Simulation iteration.
SimpleMotorFeedForward - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.BooleanTelemetryField: Simple motor feedforward currently getting used.
SimSupplier - Interface in yams.core.motorcontrollers: Provides sim functions for a YAMS simulated mechanism.
SLOT_0 - Enum constant in enum class yams.core.motorcontrollers.SmartMotorController.ClosedLoopControllerSlot: Slot 0 is the default slot for the closed loop controller.
SLOT_1 - Enum constant in enum class yams.core.motorcontrollers.SmartMotorController.ClosedLoopControllerSlot: Slot 1 is the second slot for the closed loop controller.
SLOT_2 - Enum constant in enum class yams.core.motorcontrollers.SmartMotorController.ClosedLoopControllerSlot: Slot 2 is the third slot for the closed loop controller.
SLOT_3 - Enum constant in enum class yams.core.motorcontrollers.SmartMotorController.ClosedLoopControllerSlot: Slot 3 is the fourth slot for the closed loop controller.
SmartMath - Class in yams.core.math: SmartMath class to handle math operations.
SmartMechanism - Class in yams.core.mechanisms: Generic implementation of a mechanism with advanced telemetry.
SmartMechanism() - Constructor for class yams.core.mechanisms.SmartMechanism: Create the mechanism, subclasses set up the motor and telemetry.
SmartMotorController - Class in yams.core.motorcontrollers: Smart motor controller wrapper for motor controllers.
SmartMotorController() - Constructor for class yams.core.motorcontrollers.SmartMotorController: Create the motor controller, subclasses wrap the vendor device.
SmartMotorController.ClosedLoopControllerSlot - Enum Class in yams.core.motorcontrollers: Current closed loop controller slot.
SmartMotorControllerCommandRegistry - Class in yams.commands2.telemetry: Registry for WPILib Command instances associated with a SmartMotorController.
SmartMotorControllerCommandRegistry - Class in yams.commands3.telemetry: Registry for Command instances associated with a SmartMotorController.
SmartMotorControllerConfig - Class in yams.commands2.config: Command-based extension of SmartMotorControllerConfig that adds the Subsystem binding and command-layer helpers (e.g.
SmartMotorControllerConfig - Class in yams.commands3.config: Command-based extension of SmartMotorControllerConfig that adds the Mechanism binding and command-layer helpers (e.g.
SmartMotorControllerConfig<T> - Class in yams.core.motorcontrollers: Smart motor controller config.
SmartMotorControllerConfig() - Constructor for class yams.commands2.config.SmartMotorControllerConfig: Construct the SmartMotorControllerConfig with a Subsystem added later.
SmartMotorControllerConfig() - Constructor for class yams.commands3.config.SmartMotorControllerConfig: Construct the SmartMotorControllerConfig with a Mechanism added later.
SmartMotorControllerConfig() - Constructor for class yams.core.motorcontrollers.SmartMotorControllerConfig: Construct the SmartMotorControllerConfig.
SmartMotorControllerConfig(Subsystem) - Constructor for class yams.commands2.config.SmartMotorControllerConfig: Construct the SmartMotorControllerConfig for the Subsystem
SmartMotorControllerConfig(Mechanism) - Constructor for class yams.commands3.config.SmartMotorControllerConfig: Construct the SmartMotorControllerConfig for the Mechanism
SmartMotorControllerConfig(SmartMotorControllerConfig) - Constructor for class yams.core.motorcontrollers.SmartMotorControllerConfig: Duplicate the SmartMotorControllerConfig.
SmartMotorControllerConfig.SmartMotorControllerOptions - Enum Class in yams.core.motorcontrollers: All possible options that must be checked and applied during motor config application.
SmartMotorControllerConfigurationException - Exception Class in yams.core.exceptions: Thrown by SmartMotorControllerConfig or a SmartMotorController wrapper when the applied configuration contains conflicting, incomplete, or incompatible settings.
SmartMotorControllerConfigurationException(String, String, String) - Constructor for exception class yams.core.exceptions.SmartMotorControllerConfigurationException: SmartMotorControllerConfigurationException constructor.
SmartMotorControllerTelemetry - Class in yams.core.telemetry: Smart motor controller telemetry.
SmartMotorControllerTelemetry() - Constructor for class yams.core.telemetry.SmartMotorControllerTelemetry: Create motor controller telemetry, publish it with SmartMotorControllerTelemetry.setupTelemetry(SmartMotorController, NetworkTable, NetworkTable, SmartMotorControllerTelemetryConfig).
SmartMotorControllerTelemetry.BooleanTelemetryField - Enum Class in yams.core.telemetry: Boolean telemetry for SmartMotorControllers
SmartMotorControllerTelemetry.DoubleTelemetryField - Enum Class in yams.core.telemetry: Double telemetry field.
SmartMotorControllerTelemetryConfig - Class in yams.core.telemetry: Smart motor controller telemetry configuration.
SmartMotorControllerTelemetryConfig() - Constructor for class yams.core.telemetry.SmartMotorControllerTelemetryConfig: Create a SmartMotorControllerTelemetryConfig with the default fields.
SmartPositionalMechanism - Class in yams.core.mechanisms.positional: Abstract intermediate base class for all closed-loop positional mechanisms in YAMS.
SmartPositionalMechanism() - Constructor for class yams.core.mechanisms.positional.SmartPositionalMechanism: Create the positional mechanism, subclasses set up the motor and telemetry.
SmartVelocityMechanism - Class in yams.core.mechanisms.velocity: Abstract intermediate base class for all closed-loop velocity mechanisms in YAMS.
SmartVelocityMechanism() - Constructor for class yams.core.mechanisms.velocity.SmartVelocityMechanism: Create the velocity mechanism, subclasses set up the motor and telemetry.
solve(Angle, Angle) - Method in class yams.core.units.EasyCRT: Solve for the angle of the shared gear, assuming its travel is centered on zero.
solve(Angle, Angle, Angle, Angle) - Method in class yams.core.units.EasyCRT: Solve for the angle of the shared gear when its travel is not centered on zero.
SparkWrapper - Class in yams.core.motorcontrollers.local: Spark wrapper for REV Spark Motor controllers.
SparkWrapper(SparkBase, DCMotor, SmartMotorControllerConfig) - Constructor for class yams.core.motorcontrollers.local.SparkWrapper: Create a SmartMotorController from SparkMax or SparkFlex
Sprocket - Class in yams.core.gearing: Sprocket class to handle calculating the conversion factor of a sprocket in your mechanism.
Sprocket(double...) - Constructor for class yams.core.gearing.Sprocket: Create the sprocket given the teeth of each sprocket in the chain.
Sprocket(String[]) - Constructor for class yams.core.gearing.Sprocket: Construct the Sprocket with the reduction stages given.
startClosedLoopController() - Method in class yams.core.motorcontrollers.SmartMotorController: Start the closed loop controller with the period, and the loosely coupled followers' closed loop controllers.
startDriveToPoseTuning() - Method in class yams.core.mechanisms.swerve.SwerveDrive: Reset the auto-align PID controllers and pull the live-tuned values (from NetworkTables) into this SwerveDrive.
starveInput() - Method in interface yams.core.motorcontrollers.SimSupplier: Starve the input.
starveInput() - Method in class yams.core.motorcontrollers.simulation.ArmSimSupplier
starveInput() - Method in class yams.core.motorcontrollers.simulation.DCMotorSimSupplier
starveInput() - Method in class yams.core.motorcontrollers.simulation.ElevatorSimSupplier
starveUpdateSim() - Method in interface yams.core.motorcontrollers.SimSupplier: Starve the update sim watch.
starveUpdateSim() - Method in class yams.core.motorcontrollers.simulation.ArmSimSupplier
starveUpdateSim() - Method in class yams.core.motorcontrollers.simulation.DCMotorSimSupplier
starveUpdateSim() - Method in class yams.core.motorcontrollers.simulation.ElevatorSimSupplier
State - Enum constant in enum class yams.core.telemetry.SwerveModuleTelemetry.StructTelemetryField: Measured SwerveModuleVelocity of the module.
STATOR_CURRENT_LIMIT - Enum constant in enum class yams.core.motorcontrollers.SmartMotorControllerConfig.SmartMotorControllerOptions: Stator current limit.
StatorCurrent - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: Stator current.
StatorCurrentLimit - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: Supply current limit.
stop() - Method in class yams.core.mechanisms.swerve.SwerveDrive: Stop the drive by commanding zero chassis speeds.
stopClosedLoopController() - Method in class yams.core.motorcontrollers.SmartMotorController: Stop the closed loop controller, and the loosely coupled followers' closed loop controllers.
stopLiveTuning() - Method in class yams.core.motorcontrollers.SmartMotorController: Stop live tuning, as when the "Live Tuning" command ends.
stopTuning(SwerveDrive) - Method in class yams.core.telemetry.SwerveDriveTelemetry: Stop applying a tuning voltage, as when the tuning command ends, and hold every wheel still where it is with its closed loop controller.
stopTuning(SmartMotorController) - Method in class yams.core.telemetry.SmartMotorControllerTelemetry: Stop live tuning, as when the "Live Tuning" command ends.
StructArrayTelemetry<T,F> - Class in yams.core.telemetry: Struct array Telemetry for arbitrary Struct serializable array types.
StructArrayTelemetry(String, T[], F, Struct, boolean) - Constructor for class yams.core.telemetry.StructArrayTelemetry: Setup struct array telemetry for a field.
StructTelemetry<T,F> - Class in yams.core.telemetry: Struct Telemetry for arbitrary Struct serializable types.
StructTelemetry(String, T, F, Struct, boolean) - Constructor for class yams.core.telemetry.StructTelemetry: Setup struct telemetry for a field.
Sub-packages - Section in package yams.core.mechanisms
Sub-packages - Section in package yams.core.motorcontrollers
SUPPLY_CURRENT_LIMIT - Enum constant in enum class yams.core.motorcontrollers.SmartMotorControllerConfig.SmartMotorControllerOptions: Supply current limit
SupplyCurrent - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: Supply current.
SupplyCurrentLimit - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: Supply current limit.
SwerveDrive - Class in yams.commands2.swerve: Command-based extension of SwerveDrive that adds the Subsystem binding and Command factories.
SwerveDrive - Class in yams.commands3.swerve: Command-based extension of SwerveDrive that adds the Mechanism binding and Command factories.
SwerveDrive - Class in yams.core.mechanisms.swerve: Swerve Drive mechanism.
SwerveDrive(SwerveDriveConfig) - Constructor for class yams.commands2.swerve.SwerveDrive: Construct a SwerveDrive.
SwerveDrive(SwerveDriveConfig) - Constructor for class yams.commands3.swerve.SwerveDrive: Construct a SwerveDrive.
SwerveDrive(SwerveDriveConfig) - Constructor for class yams.core.mechanisms.swerve.SwerveDrive: Create a SwerveDrive.
SwerveDriveConfig - Class in yams.commands2.config: Command-based extension of SwerveDriveConfig that adds the Subsystem binding.
SwerveDriveConfig - Class in yams.commands3.config: Command-based extension of SwerveDriveConfig that adds the Mechanism binding.
SwerveDriveConfig<T> - Class in yams.core.mechanisms.config: Swerve Drive Configuration.
SwerveDriveConfig() - Constructor for class yams.commands2.config.SwerveDriveConfig: Create the SwerveDriveConfig for the SwerveDrive
SwerveDriveConfig() - Constructor for class yams.commands3.config.SwerveDriveConfig: Create the SwerveDriveConfig for the SwerveDrive
SwerveDriveConfig() - Constructor for class yams.core.mechanisms.config.SwerveDriveConfig: Create the SwerveDriveConfig for the SwerveDrive
SwerveDriveConfig(Subsystem, SwerveModule...) - Constructor for class yams.commands2.config.SwerveDriveConfig: Create the SwerveDriveConfig for the SwerveDrive
SwerveDriveConfig(Mechanism, SwerveModule...) - Constructor for class yams.commands3.config.SwerveDriveConfig: Create the SwerveDriveConfig for the SwerveDrive
SwerveDriveConfig(SwerveDriveConfig) - Constructor for class yams.core.mechanisms.config.SwerveDriveConfig: Copy a SwerveDriveConfig.
SwerveDriveConfig(SwerveModule...) - Constructor for class yams.core.mechanisms.config.SwerveDriveConfig: Create the SwerveDriveConfig for the SwerveDrive
SwerveDriveConfigurationException - Exception Class in yams.core.exceptions: Thrown by SwerveDrive or SwerveDriveConfig when a required field is missing or a config invariant is violated.
SwerveDriveConfigurationException(String, String, String) - Constructor for exception class yams.core.exceptions.SwerveDriveConfigurationException: SwerveDrive configuration exception.
SwerveDriveTelemetry - Class in yams.core.telemetry: Publishes SwerveDrive telemetry to NetworkTables and DataLog, and applies live tuning values.
SwerveDriveTelemetry(SwerveDriveTelemetryConfig) - Constructor for class yams.core.telemetry.SwerveDriveTelemetry: Create SwerveDrive telemetry for logging in NetworkTables and DataLog.
SwerveDriveTelemetry.BooleanTelemetryField - Enum Class in yams.core.telemetry: Boolean telemetry field for SwerveDrives.
SwerveDriveTelemetry.DoubleTelemetryField - Enum Class in yams.core.telemetry: Double telemetry field for SwerveDrives.
SwerveDriveTelemetry.StructArrayTelemetryField - Enum Class in yams.core.telemetry: Struct array telemetry field for SwerveDrives.
SwerveDriveTelemetry.StructTelemetryField - Enum Class in yams.core.telemetry: Struct telemetry field for SwerveDrives.
SwerveDriveTelemetryConfig - Class in yams.core.telemetry: Swerve drive telemetry configuration.
SwerveDriveTelemetryConfig() - Constructor for class yams.core.telemetry.SwerveDriveTelemetryConfig: Default constructor
SwerveDriveTelemetryConfig(TelemetryVerbosity) - Constructor for class yams.core.telemetry.SwerveDriveTelemetryConfig: Constructor with verbosity preset.
SwerveInputStream - Class in yams.commands2.swerve: Helper class to easily transform controller inputs into workable chassis speeds.
SwerveInputStream - Class in yams.commands3.swerve: Helper class to transform controller inputs into workable Chassis speeds for the Commands v3 API.
SwerveInputStream(SwerveDrive, DoubleSupplier, DoubleSupplier, DoubleSupplier) - Constructor for class yams.commands2.swerve.SwerveInputStream: Create a SwerveInputStream that rotates the robot with an angular velocity axis.
SwerveInputStream(SwerveDrive, DoubleSupplier, DoubleSupplier, DoubleSupplier) - Constructor for class yams.commands3.swerve.SwerveInputStream: Create a SwerveInputStream that rotates the robot with an angular velocity axis.
SwerveInputStream(SwerveDrive, DoubleSupplier, DoubleSupplier, DoubleSupplier, DoubleSupplier) - Constructor for class yams.commands2.swerve.SwerveInputStream: Create a SwerveInputStream that turns the robot to face the direction a controller stick points.
SwerveInputStream(SwerveDrive, DoubleSupplier, DoubleSupplier, DoubleSupplier, DoubleSupplier) - Constructor for class yams.commands3.swerve.SwerveInputStream: Create a SwerveInputStream that turns the robot to face the direction a controller stick points.
SwerveInputStreamTelemetry - Class in yams.commands2.telemetry: Telemetry and live tuning for a SwerveInputStream, created by SwerveInputStream.withTelemetry(String, TelemetryVerbosity) and published every time the stream is read.
SwerveInputStreamTelemetry - Class in yams.commands3.telemetry: Telemetry and live tuning for a SwerveInputStream, created by SwerveInputStream.withTelemetry(String, TelemetryVerbosity) and published every time the stream is read.
SwerveInputStreamTelemetry(SwerveInputStream, String, TelemetryVerbosity) - Constructor for class yams.commands2.telemetry.SwerveInputStreamTelemetry: Publish telemetry for a SwerveInputStream.
SwerveInputStreamTelemetry(SwerveInputStream, String, TelemetryVerbosity) - Constructor for class yams.commands3.telemetry.SwerveInputStreamTelemetry: Publish telemetry for a SwerveInputStream.
SwerveModule - Class in yams.core.mechanisms.swerve: Swerve Module
SwerveModule(SwerveModuleConfig) - Constructor for class yams.core.mechanisms.swerve.SwerveModule: Create a SwerveModule.
SwerveModuleConfig - Class in yams.core.mechanisms.config: Swerve Module
SwerveModuleConfig() - Constructor for class yams.core.mechanisms.config.SwerveModuleConfig: Create the SwerveModuleConfig for the SwerveModule
SwerveModuleConfig(SmartMotorController, SmartMotorController) - Constructor for class yams.core.mechanisms.config.SwerveModuleConfig: Create the SwerveModuleConfig for the SwerveModule
SwerveModuleTelemetry - Class in yams.core.telemetry: Swerve module telemetry.
SwerveModuleTelemetry(SwerveModuleTelemetryConfig) - Constructor for class yams.core.telemetry.SwerveModuleTelemetry: Create SwerveModule telemetry for logging in NetworkTables and DataLog.
SwerveModuleTelemetry.DoubleTelemetryField - Enum Class in yams.core.telemetry: Double telemetry field for SwerveModules.
SwerveModuleTelemetry.StructTelemetryField - Enum Class in yams.core.telemetry: Struct telemetry field for SwerveModules.
SwerveModuleTelemetryConfig - Class in yams.core.telemetry: Swerve module telemetry configuration.
SwerveModuleTelemetryConfig() - Constructor for class yams.core.telemetry.SwerveModuleTelemetryConfig: Default constructor.
SwerveModuleTelemetryConfig(TelemetryVerbosity) - Constructor for class yams.core.telemetry.SwerveModuleTelemetryConfig: Constructor with verbosity preset.
SwerveModuleVelocityWithAzimuth - Class in yams.core.mechanisms.swerve: A SwerveModuleVelocity that also holds how fast the wheel is turning: the angular velocity of the azimuth.
SwerveModuleVelocityWithAzimuth(double, Rotation2d, AngularVelocity) - Constructor for class yams.core.mechanisms.swerve.SwerveModuleVelocityWithAzimuth: Create a module state with the azimuth's angular velocity.
SwerveModuleVelocityWithAzimuth(LinearVelocity, Rotation2d, AngularVelocity) - Constructor for class yams.core.mechanisms.swerve.SwerveModuleVelocityWithAzimuth: Create a module state with the azimuth's angular velocity.
synchronizeRelativeEncoder() - Method in class yams.core.motorcontrollers.local.NovaWrapper
synchronizeRelativeEncoder() - Method in class yams.core.motorcontrollers.local.SparkWrapper
synchronizeRelativeEncoder() - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper: Check if the relative encoder is out of sync with absolute encoder within defined tolerances.
synchronizeRelativeEncoder() - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper: Check if the relative encoder is out of sync with absolute encoder within defined tolerances.
synchronizeRelativeEncoder() - Method in class yams.core.motorcontrollers.SmartMotorController: Check if the relative encoder is out of sync with absolute encoder within defined tolerances.

T

TalonFXSWrapper - Class in yams.core.motorcontrollers.remote: TalonFXS wrapper for CTRE TalonFXS motor controllers.
TalonFXSWrapper(TalonFXS, DCMotor, SmartMotorControllerConfig) - Constructor for class yams.core.motorcontrollers.remote.TalonFXSWrapper: Create the TalonFXS wrapper
TalonFXWrapper - Class in yams.core.motorcontrollers.remote: TalonFX wrapper for a CTRE TalonFX motor controller.
TalonFXWrapper(TalonFX, DCMotor, SmartMotorControllerConfig) - Constructor for class yams.core.motorcontrollers.remote.TalonFXWrapper: Create the TalonFX wrapper
TargetPose - Enum constant in enum class yams.core.telemetry.SwerveDriveTelemetry.StructTelemetryField: Target Pose2d for the robot driven using SwerveDrive.driveToPose(Pose2d).
telemetry - Variable in class yams.core.motorcontrollers.SmartMotorController: Telemetry.
telemetryConfig - Variable in class yams.core.motorcontrollers.SmartMotorController: Config for publishing specific telemetry.
telemetryTable - Variable in class yams.core.motorcontrollers.SmartMotorController: SmartMotorController telemetry table.
TelemetryVerbosity - Enum Class in yams.core.telemetry.enums: Telemetry verbosity for YAMS motor controllers and mechanisms.
TemperatureLimit - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.BooleanTelemetryField: Temperature limit if available.
times(double) - Method in class yams.core.gearing.GearBox: Multiply the gear reduction ratio by X.
times(double) - Method in class yams.core.gearing.Sprocket: Multiply the sprocket reduction ratio by X.
toRobotAttitude(Rotation3d) - Method in enum class yams.core.mechanisms.config.enums.GyroAxis: Rotate the gyro's attitude into the robot's frame, so its yaw is the robot's heading and its roll and pitch are the robot's tilt, whichever way the gyro is mounted.
toString() - Method in class yams.core.mechanisms.swerve.SwerveModuleVelocityWithAzimuth
toString() - Method in class yams.core.motorcontrollers.SmartMotorController
transformUnit(SmartMotorControllerConfig) - Method in class yams.core.telemetry.DoubleTelemetry: Set the unit.
TranslationD - Enum constant in enum class yams.core.telemetry.SwerveDriveTelemetry.DoubleTelemetryField: Translational derivative gain for auto-aligning the robot.
TranslationI - Enum constant in enum class yams.core.telemetry.SwerveDriveTelemetry.DoubleTelemetryField: Translational integral gain for auto-aligning the robot.
TranslationP - Enum constant in enum class yams.core.telemetry.SwerveDriveTelemetry.DoubleTelemetryField: Translational proporational gain for auto-aligning the robot.
TrapezoidalProfileMaxAcceleration - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: Motion profile maximum accelerartion, could be in MPS^2 or RPM/s
TrapezoidalProfileMaxJerk - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: Trapezoidal profile maximum jerk, could be in MPS^3 or RPM/s^2
TrapezoidalProfileMaxVelocity - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: Motion profile maximum velocity, could be in MPS or RPM
Trigger Factory Methods - Section in package yams.core.mechanisms.positional
tunable() - Method in class yams.core.telemetry.BooleanTelemetry: Check to see if the value has changed.
tunable() - Method in class yams.core.telemetry.DoubleTelemetry: Check to see if the value has changed.
tunable() - Method in class yams.core.telemetry.StructArrayTelemetry: Check to see if the value has changed.
tunable() - Method in class yams.core.telemetry.StructTelemetry: Check to see if the value has changed.
TunableClosedLoopControllerSlot - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: Closed loop controller slot.
TunableSetpointPosition - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: Setpoint position
TunableSetpointVelocity - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: Setpoint velocity
TunableVoltage - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: Tunable voltage applied to the motor and its loosely coupled followers, without the closed loop controller, while SmartMotorControllerTelemetry.BooleanTelemetryField.TunableVoltageEnabled is on.
TunableVoltageEnabled - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.BooleanTelemetryField: Drive the motor and its loosely coupled followers at SmartMotorControllerTelemetry.DoubleTelemetryField.TunableVoltage instead of the closed loop controller while on.
tuningEnabled() - Method in class yams.core.motorcontrollers.SmartMotorController: Whether live tuning is enabled for this SmartMotorController, i.e.
tuningEnabled() - Method in class yams.core.telemetry.SmartMotorControllerTelemetry: Whether or not tuning is enabled.
tuningTable - Variable in class yams.core.motorcontrollers.SmartMotorController: SmartMotorController tuning table.
Typical usage - Section in class yams.core.mechanisms.swerve.SwerveModule
Typical Usage - Section in package yams.core.mechanisms
Typical usage with an NiDsXboxController - Section in class yams.commands2.swerve.SwerveInputStream

U

Unsupported Operations - Section in package yams.core.mechanisms.velocity
updateConfig(LQRConfig) - Method in class yams.core.math.LQRController: Update LQR based off config.
updateLoopTime() - Method in class yams.core.telemetry.MechanismTelemetry: Update the loop time.
updateSimState() - Method in interface yams.core.motorcontrollers.SimSupplier: Update the sim state.
updateSimState() - Method in class yams.core.motorcontrollers.simulation.ArmSimSupplier
updateSimState() - Method in class yams.core.motorcontrollers.simulation.DCMotorSimSupplier
updateSimState() - Method in class yams.core.motorcontrollers.simulation.ElevatorSimSupplier
updateTelemetry() - Method in class yams.commands2.telemetry.SwerveInputStreamTelemetry: Publish the stream's current mode and, at TelemetryVerbosity.MID and above, its configuration.
updateTelemetry() - Method in class yams.commands3.telemetry.SwerveInputStreamTelemetry: Publish the stream's current mode and, at TelemetryVerbosity.MID and above, its configuration.
updateTelemetry() - Method in class yams.core.mechanisms.positional.Arm
updateTelemetry() - Method in class yams.core.mechanisms.positional.DifferentialMechanism
updateTelemetry() - Method in class yams.core.mechanisms.positional.DoubleJointedArm
updateTelemetry() - Method in class yams.core.mechanisms.positional.Elevator
updateTelemetry() - Method in class yams.core.mechanisms.positional.Pivot
updateTelemetry() - Method in class yams.core.mechanisms.SmartMechanism: Update the mechanism's telemetry.
updateTelemetry() - Method in class yams.core.mechanisms.swerve.SwerveDrive: Update the telemetry and SwerveDrivePoseEstimator of the drive.
updateTelemetry() - Method in class yams.core.mechanisms.swerve.SwerveModule: Update the telemetry of the module.
updateTelemetry() - Method in class yams.core.mechanisms.velocity.FlyWheel
updateTelemetry() - Method in class yams.core.motorcontrollers.SmartMotorController: Update the telemetry under the motor name under the given NetworkTable
Usage example - Section in package yams.core.motorcontrollers
Usage Example - Section in class yams.commands2.config.SwerveDriveConfig
Usage Example - Section in class yams.commands2.mechanisms.Arm
Usage Example - Section in class yams.commands2.mechanisms.DifferentialMechanism
Usage Example - Section in class yams.commands2.mechanisms.Elevator
Usage Example - Section in class yams.commands2.mechanisms.FlyWheel
Usage Example - Section in class yams.commands2.mechanisms.Pivot
Usage Example - Section in class yams.commands3.config.SwerveDriveConfig
Usage Example - Section in class yams.commands3.mechanisms.Arm
Usage Example - Section in class yams.commands3.mechanisms.DifferentialMechanism
Usage Example - Section in class yams.commands3.mechanisms.Elevator
Usage Example - Section in class yams.commands3.mechanisms.FlyWheel
Usage Example - Section in class yams.commands3.mechanisms.Pivot
useCANdiPWM1() - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper: Check if CANdi PWM1 is used as the ExternalFeedbackConfigs.ExternalFeedbackSensorSource in TalonFXSConfiguration.ExternalFeedback.
useCANdiPWM1() - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper: Check if CANdi PWM1 is used as the ExternalFeedbackConfigs.ExternalFeedbackSensorSource in TalonFXConfiguration.Feedback.
useCANdiPWM2() - Method in class yams.core.motorcontrollers.remote.TalonFXSWrapper: Check if CANdi PWM2 is used as the ExternalFeedbackConfigs.ExternalFeedbackSensorSource in TalonFXSConfiguration.ExternalFeedback.
useCANdiPWM2() - Method in class yams.core.motorcontrollers.remote.TalonFXWrapper: Check if CANdi PWM2 is used as the ExternalFeedbackConfigs.ExternalFeedbackSensorSource in TalonFXConfiguration.Feedback.
useExternalFeedbackSensor() - Method in class yams.core.mechanisms.config.SwerveDriveConfig: Use an external feedback sensor for the SwerveModules.

V

validateBasicOptions() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Validate all required options are at least fetched and handled in each SmartMotorController wrapper.
validateExternalEncoderOptions() - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Validate external encoder config options for the config.
valueOf(String) - Static method in enum class yams.core.math.LQRConfig.LQRType: Returns the enum constant of this class with the specified name.
valueOf(String) - Static method in enum class yams.core.mechanisms.config.enums.GyroAxis: Returns the enum constant of this class with the specified name.
valueOf(String) - Static method in enum class yams.core.mechanisms.config.MechanismPositionConfig.Plane: Returns the enum constant of this class with the specified name.
valueOf(String) - Static method in enum class yams.core.motorcontrollers.enums.ControlMode: Returns the enum constant of this class with the specified name.
valueOf(String) - Static method in enum class yams.core.motorcontrollers.enums.MotorMode: Returns the enum constant of this class with the specified name.
valueOf(String) - Static method in enum class yams.core.motorcontrollers.simulation.SensorData.HALValueType: Returns the enum constant of this class with the specified name.
valueOf(String) - Static method in enum class yams.core.motorcontrollers.SmartMotorController.ClosedLoopControllerSlot: Returns the enum constant of this class with the specified name.
valueOf(String) - Static method in enum class yams.core.motorcontrollers.SmartMotorControllerConfig.SmartMotorControllerOptions: Returns the enum constant of this class with the specified name.
valueOf(String) - Static method in enum class yams.core.telemetry.enums.TelemetryVerbosity: Returns the enum constant of this class with the specified name.
valueOf(String) - Static method in enum class yams.core.telemetry.SmartMotorControllerTelemetry.BooleanTelemetryField: Returns the enum constant of this class with the specified name.
valueOf(String) - Static method in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: Returns the enum constant of this class with the specified name.
valueOf(String) - Static method in enum class yams.core.telemetry.SwerveDriveTelemetry.BooleanTelemetryField: Returns the enum constant of this class with the specified name.
valueOf(String) - Static method in enum class yams.core.telemetry.SwerveDriveTelemetry.DoubleTelemetryField: Returns the enum constant of this class with the specified name.
valueOf(String) - Static method in enum class yams.core.telemetry.SwerveDriveTelemetry.StructArrayTelemetryField: Returns the enum constant of this class with the specified name.
valueOf(String) - Static method in enum class yams.core.telemetry.SwerveDriveTelemetry.StructTelemetryField: Returns the enum constant of this class with the specified name.
valueOf(String) - Static method in enum class yams.core.telemetry.SwerveModuleTelemetry.DoubleTelemetryField: Returns the enum constant of this class with the specified name.
valueOf(String) - Static method in enum class yams.core.telemetry.SwerveModuleTelemetry.StructTelemetryField: Returns the enum constant of this class with the specified name.
values() - Static method in enum class yams.core.math.LQRConfig.LQRType: Returns an array containing the constants of this enum class, in the order they are declared.
values() - Static method in enum class yams.core.mechanisms.config.enums.GyroAxis: Returns an array containing the constants of this enum class, in the order they are declared.
values() - Static method in enum class yams.core.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.core.motorcontrollers.enums.ControlMode: Returns an array containing the constants of this enum class, in the order they are declared.
values() - Static method in enum class yams.core.motorcontrollers.enums.MotorMode: Returns an array containing the constants of this enum class, in the order they are declared.
values() - Static method in enum class yams.core.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.core.motorcontrollers.SmartMotorController.ClosedLoopControllerSlot: Returns an array containing the constants of this enum class, in the order they are declared.
values() - Static method in enum class yams.core.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.core.telemetry.enums.TelemetryVerbosity: Returns an array containing the constants of this enum class, in the order they are declared.
values() - Static method in enum class yams.core.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.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: Returns an array containing the constants of this enum class, in the order they are declared.
values() - Static method in enum class yams.core.telemetry.SwerveDriveTelemetry.BooleanTelemetryField: Returns an array containing the constants of this enum class, in the order they are declared.
values() - Static method in enum class yams.core.telemetry.SwerveDriveTelemetry.DoubleTelemetryField: Returns an array containing the constants of this enum class, in the order they are declared.
values() - Static method in enum class yams.core.telemetry.SwerveDriveTelemetry.StructArrayTelemetryField: Returns an array containing the constants of this enum class, in the order they are declared.
values() - Static method in enum class yams.core.telemetry.SwerveDriveTelemetry.StructTelemetryField: Returns an array containing the constants of this enum class, in the order they are declared.
values() - Static method in enum class yams.core.telemetry.SwerveModuleTelemetry.DoubleTelemetryField: Returns an array containing the constants of this enum class, in the order they are declared.
values() - Static method in enum class yams.core.telemetry.SwerveModuleTelemetry.StructTelemetryField: Returns an array containing the constants of this enum class, in the order they are declared.
VelocityControl - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.BooleanTelemetryField: Velocity control currently getting used.
VelocityMeasurementDelay - Enum constant in enum class yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField: How far behind the mechanism the measured velocity is, from how the motor controller filters it, when it is known.
visualizationUpdate() - Method in class yams.core.mechanisms.positional.Arm: Updates the mechanism ligament with the current angle of the arm.
visualizationUpdate() - Method in class yams.core.mechanisms.positional.DifferentialMechanism: Updates the mechanism ligament with the current angle of the Differential Mechanism.
visualizationUpdate() - Method in class yams.core.mechanisms.positional.DoubleJointedArm: Updates the mechanism ligament with the current angle of the arm.
visualizationUpdate() - Method in class yams.core.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.core.mechanisms.positional.Pivot: Updates the angle of the mechanism ligament to match the current angle of the pivot.
visualizationUpdate() - Method in class yams.core.mechanisms.SmartMechanism: Update the mechanism's visualization state.
visualizationUpdate() - Method in class yams.core.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.core.units.YUnits: 7 YUnits.Days.
withAbsoluteEncoder() - Method in class yams.core.telemetry.SwerveModuleTelemetryConfig: Enables the absolute encoder angle logging.
withAbsoluteEncoder(Object) - Method in class yams.core.mechanisms.config.SwerveModuleConfig: Set the absolute encoder for the azimuth SmartMotorController if it's the SAME VENDOR, only.
withAbsoluteEncoder(DoubleSupplier) - Method in class yams.core.mechanisms.config.SwerveModuleConfig: Supply a non-alike vendor absolute encoder for the azimuth SmartMotorController.
withAbsoluteEncoder(Supplier) - Method in class yams.core.mechanisms.config.SwerveModuleConfig: Supply a non-alike vendor absolute encoder for the azimuth SmartMotorController.
withAbsoluteEncoderGearing(GearBox) - Method in class yams.core.mechanisms.config.SwerveModuleConfig: Set the gearing of the absolute encoder if it's not 1:1.
withAbsoluteEncoderOffset(Angle) - Method in class yams.core.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.
withAggressiveness(double) - Method in class yams.core.math.LQRConfig: Aggressiveness of the LQR, how fast it will attempt to achieve the desired state.
withAim(Supplier, BooleanSupplier) - Method in class yams.commands2.swerve.SwerveInputStream: Face a target pose while enabled.
withAim(Supplier, BooleanSupplier) - Method in class yams.commands3.swerve.SwerveInputStream: Face a target pose while enabled.
withAimFeedforward(SimpleMotorFeedforward) - Method in class yams.commands2.swerve.SwerveInputStream: Add a feedforward to the aim rotation, so the robot keeps up with a target whose direction is changing.
withAimFeedforward(SimpleMotorFeedforward) - Method in class yams.commands3.swerve.SwerveInputStream: Add a feedforward to the aim rotation, so the robot keeps up with a target whose direction is changing.
withAimHeadingOffset(Rotation2d) - Method in class yams.commands2.swerve.SwerveInputStream: Always rotate the aim heading by an offset, for a shooter that does not point out of the front of the robot.
withAimHeadingOffset(Rotation2d) - Method in class yams.commands3.swerve.SwerveInputStream: Always rotate the aim heading by an offset, for a shooter that does not point out of the front of the robot.
withAimHeadingOffset(Rotation2d, BooleanSupplier) - Method in class yams.commands2.swerve.SwerveInputStream: Rotate the aim heading by an offset while enabled, for a shooter that does not point out of the front of the robot.
withAimHeadingOffset(Rotation2d, BooleanSupplier) - Method in class yams.commands3.swerve.SwerveInputStream: Rotate the aim heading by an offset while enabled, for a shooter that does not point out of the front of the robot.
withAimLookahead(Time) - Method in class yams.commands2.swerve.SwerveInputStream: Aim from where the robot will be after a delay, instead of where it is now.
withAimLookahead(Time) - Method in class yams.commands3.swerve.SwerveInputStream: Aim from where the robot will be after a delay, instead of where it is now.
withAllianceRelativeControl() - Method in class yams.commands2.swerve.SwerveInputStream: Always flip translation 180 degrees while on the red alliance, so forward is away from the driver station.
withAllianceRelativeControl() - Method in class yams.commands3.swerve.SwerveInputStream: Always flip translation 180 degrees while on the red alliance, so forward is away from the driver station.
withAllianceRelativeControl(BooleanSupplier) - Method in class yams.commands2.swerve.SwerveInputStream: Flip translation 180 degrees while on the red alliance, so forward is away from the driver station.
withAllianceRelativeControl(BooleanSupplier) - Method in class yams.commands3.swerve.SwerveInputStream: Flip translation 180 degrees while on the red alliance, so forward is away from the driver station.
withAngle(Angle) - Method in class yams.core.mechanisms.config.ElevatorConfig: Configure the Elevators angle for simulation.
withAngleSuppliers(Supplier, Supplier) - Method in class yams.core.mechanisms.config.DifferentialMechanismConfig: Setup suppliers for absolute encoders on the DifferentialMechanism
withAntiTipping(AntiTipping) - Method in class yams.core.mechanisms.config.SwerveDriveConfig: Drive the robot back under itself when it starts to tip, with an AntiTipping reading the robot's attitude from the gyro set with SwerveDriveConfig.withGyro(Supplier): its correction is added to every robot relative chassis speed.
withAntiTipping(LinearVelocity, Angle, LinearVelocity) - Method in class yams.core.mechanisms.config.SwerveDriveConfig: Drive the robot back under itself when it starts to tip, with WPILib's AntiTipping: once the robot's pitch or roll, from the gyro set with SwerveDriveConfig.withGyro(Supplier), is past tippingThreshold, a correction toward the side it is tipping to, kP times the sine of the tilt and at most maxCorrectionSpeed, is added to every robot relative chassis speed.
withArm(Angle, AngularVelocity, Angle, AngularVelocity, Angle) - Method in class yams.core.math.LQRConfig: Construct an Arm LQR Configuration.
withArmFeedforward() - Method in class yams.core.telemetry.SmartMotorControllerTelemetryConfig: Enables the arm feedforward logging if available.
withCarriageWeight(Mass) - Method in class yams.core.mechanisms.config.ElevatorConfig: Configure the Elevators Mass for simulation.
withCascadingElevatorStages(int) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: 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.core.mechanisms.config.SwerveDriveConfig: Set the center of rotation; 0,0 is the center of the robot.
withCenterOfRotation(Distance, Distance) - Method in class yams.core.mechanisms.config.SwerveDriveConfig: Set the center of rotation; 0,0 is the center of the robot.
withClosedLoopController(double, double, double) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the closed loop controller for the SmartMotorController, the units passed in are in Rotations (or Meters if linear closed loop controller is configured), the outputs are in Volts.
withClosedLoopController(double, double, double, SmartMotorController.ClosedLoopControllerSlot) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the closed loop controller for the SmartMotorController, the units passed in are in Rotations (or Meters if linear closed loop controller is configured), the outputs are in Volts.
withClosedLoopController(PIDController) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the closed loop controller for the SmartMotorController, the units passed in are in Rotations (or Meters if linear closed loop controller is configured), the outputs are in Volts.
withClosedLoopController(PIDController, SmartMotorController.ClosedLoopControllerSlot) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the closed loop controller for the SmartMotorController, the units passed in are in Rotations (or Meters if linear closed loop controller is configured), the outputs are in Volts.
withClosedLoopController(LQRController) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the closed loop controller for the SmartMotorController with an exponential profile, the units passed in are in Rotations (or Meters if linear closed loop controller configured), outputs are in Volts.
withClosedLoopControllerMaximumVoltage(Voltage) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the closed loop maximum voltage output.
withClosedLoopControlPeriod(Frequency) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Modify the period of the PID controller for the motor controller.
withClosedLoopControlPeriod(Time) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Modify the period of the PID controller for the motor controller.
withClosedLoopPeriod() - Method in class yams.core.telemetry.SmartMotorControllerTelemetryConfig: Enables logging the period the closed loop controller runs at.
withClosedLoopRampRate(Time) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the closed loop ramp rate.
withClosedLoopTolerance(Angle) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the closed loop tolerance of the mechanism controller.
withClosedLoopTolerance(Distance) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the SmartMotorController closed loop controller tolerance via distance.
withContinuousWrapping(Angle, Angle) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set continuous wrapping for the SmartMotorController
withControlEffort(Voltage) - Method in class yams.core.math.LQRConfig: Set the control effort for the LQR.
withControllerHeadingAxis(DoubleSupplier, DoubleSupplier) - Method in class yams.commands2.swerve.SwerveInputStream: Face the direction a controller stick points while heading control is enabled.
withControllerHeadingAxis(DoubleSupplier, DoubleSupplier) - Method in class yams.commands3.swerve.SwerveInputStream: Face the direction a controller stick points while heading control is enabled.
withControllerRotationAxis(DoubleSupplier) - Method in class yams.commands2.swerve.SwerveInputStream: Set the axis used for angular velocity control.
withControllerRotationAxis(DoubleSupplier) - Method in class yams.commands3.swerve.SwerveInputStream: Set the axis used for angular velocity control.
withControlMode(ControlMode) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the control mode for the SmartMotorController
withCosineCompensation(boolean) - Method in class yams.core.mechanisms.config.SwerveModuleConfig: Cosine compensation for the SwerveModule, adjusting the velocity by the cosine of the (current_angle-desired_angle).
withCouplingRatio(double) - Method in class yams.core.mechanisms.config.SwerveModuleConfig: Set the steer to drive coupling ratio as a single reduction; see SwerveModuleConfig.withCouplingRatio(GearBox).
withCouplingRatio(GearBox) - Method in class yams.core.mechanisms.config.SwerveModuleConfig: Set the steer to drive coupling ratio, compensated as in the CTRE swerve API.
withCubeRotationControllerAxis() - Method in class yams.commands2.swerve.SwerveInputStream: Always cube the angular velocity axis, for finer control near the center of the stick.
withCubeRotationControllerAxis() - Method in class yams.commands3.swerve.SwerveInputStream: Always cube the angular velocity axis, for finer control near the center of the stick.
withCubeRotationControllerAxis(BooleanSupplier) - Method in class yams.commands2.swerve.SwerveInputStream: Cube the angular velocity axis while enabled, for finer control near the center of the stick.
withCubeRotationControllerAxis(BooleanSupplier) - Method in class yams.commands3.swerve.SwerveInputStream: Cube the angular velocity axis while enabled, for finer control near the center of the stick.
withCubeTranslationControllerAxis() - Method in class yams.commands2.swerve.SwerveInputStream: Always cube the translation magnitude, for finer control near the center of the stick.
withCubeTranslationControllerAxis() - Method in class yams.commands3.swerve.SwerveInputStream: Always cube the translation magnitude, for finer control near the center of the stick.
withCubeTranslationControllerAxis(BooleanSupplier) - Method in class yams.commands2.swerve.SwerveInputStream: Cube the translation magnitude while enabled, for finer control near the center of the stick.
withCubeTranslationControllerAxis(BooleanSupplier) - Method in class yams.commands3.swerve.SwerveInputStream: Cube the translation magnitude while enabled, for finer control near the center of the stick.
withCurrentModuleStates() - Method in class yams.core.telemetry.SwerveDriveTelemetryConfig: Enables the measured module states logging.
withCurrentRobotRelativeChassisSpeeds() - Method in class yams.core.telemetry.SwerveDriveTelemetryConfig: Enables the measured robot relative chassis speeds logging.
withCustom(SmartMotorControllerTelemetry.BooleanTelemetryField[], boolean) - Method in class yams.core.telemetry.SmartMotorControllerTelemetryConfig: Escape hatch for unimplemented fields which should be enabled or disabled.
withCustom(SmartMotorControllerTelemetry.BooleanTelemetryField, boolean) - Method in class yams.core.telemetry.SmartMotorControllerTelemetryConfig: Escape hatch for unimplemented fields which should be enabled or disabled.
withCustom(SmartMotorControllerTelemetry.DoubleTelemetryField[], boolean) - Method in class yams.core.telemetry.SmartMotorControllerTelemetryConfig: Escape hatch for unimplemented fields which should be enabled or disabled.
withCustom(SmartMotorControllerTelemetry.DoubleTelemetryField, boolean) - Method in class yams.core.telemetry.SmartMotorControllerTelemetryConfig: Escape hatch for unimplemented fields which should be enabled or disabled.
withCustom(SwerveDriveTelemetry.BooleanTelemetryField[], boolean) - Method in class yams.core.telemetry.SwerveDriveTelemetryConfig: Escape hatch for unimplemented fields which should be enabled or disabled.
withCustom(SwerveDriveTelemetry.BooleanTelemetryField, boolean) - Method in class yams.core.telemetry.SwerveDriveTelemetryConfig: Escape hatch for unimplemented fields which should be enabled or disabled.
withCustom(SwerveDriveTelemetry.DoubleTelemetryField[], boolean) - Method in class yams.core.telemetry.SwerveDriveTelemetryConfig: Escape hatch for unimplemented fields which should be enabled or disabled.
withCustom(SwerveDriveTelemetry.DoubleTelemetryField, boolean) - Method in class yams.core.telemetry.SwerveDriveTelemetryConfig: Escape hatch for unimplemented fields which should be enabled or disabled.
withCustom(SwerveDriveTelemetry.StructArrayTelemetryField[], boolean) - Method in class yams.core.telemetry.SwerveDriveTelemetryConfig: Escape hatch for unimplemented fields which should be enabled or disabled.
withCustom(SwerveDriveTelemetry.StructArrayTelemetryField, boolean) - Method in class yams.core.telemetry.SwerveDriveTelemetryConfig: Escape hatch for unimplemented fields which should be enabled or disabled.
withCustom(SwerveDriveTelemetry.StructTelemetryField[], boolean) - Method in class yams.core.telemetry.SwerveDriveTelemetryConfig: Escape hatch for unimplemented fields which should be enabled or disabled.
withCustom(SwerveDriveTelemetry.StructTelemetryField, boolean) - Method in class yams.core.telemetry.SwerveDriveTelemetryConfig: Escape hatch for unimplemented fields which should be enabled or disabled.
withCustom(SwerveModuleTelemetry.DoubleTelemetryField[], boolean) - Method in class yams.core.telemetry.SwerveModuleTelemetryConfig: Escape hatch for unimplemented fields which should be enabled or disabled.
withCustom(SwerveModuleTelemetry.DoubleTelemetryField, boolean) - Method in class yams.core.telemetry.SwerveModuleTelemetryConfig: Escape hatch for unimplemented fields which should be enabled or disabled.
withCustom(SwerveModuleTelemetry.StructTelemetryField[], boolean) - Method in class yams.core.telemetry.SwerveModuleTelemetryConfig: Escape hatch for unimplemented fields which should be enabled or disabled.
withCustom(SwerveModuleTelemetry.StructTelemetryField, boolean) - Method in class yams.core.telemetry.SwerveModuleTelemetryConfig: Escape hatch for unimplemented fields which should be enabled or disabled.
withDataLogName(String) - Method in class yams.core.telemetry.SmartMotorControllerTelemetryConfig: Set up a DataLog entry for this SmartMotorController
withDataLogName(String) - Method in class yams.core.telemetry.SwerveDriveTelemetryConfig: Set up a DataLog entry for this SwerveDrive
withDataLogName(String) - Method in class yams.core.telemetry.SwerveModuleTelemetryConfig: Set up a DataLog entry for this SwerveModule
withDeadband(double) - Method in class yams.commands2.swerve.SwerveInputStream: Set the deadband applied to every controller axis.
withDeadband(double) - Method in class yams.commands3.swerve.SwerveInputStream: Set the deadband applied to every controller axis.
withDesiredModuleStates() - Method in class yams.core.telemetry.SwerveDriveTelemetryConfig: Enables the last-commanded desired module states logging.
withDesiredRobotRelativeChassisSpeeds() - Method in class yams.core.telemetry.SwerveDriveTelemetryConfig: Enables the last-commanded desired robot relative chassis speeds logging.
withDiameter(Distance) - Method in class yams.core.mechanisms.config.FlyWheelConfig: Configure the FlyWheels diameter for simulation.
withDiscretizationTime(Time) - Method in class yams.core.mechanisms.config.SwerveDriveConfig: Set the discretization time for the pose estimation.
withDistanceFromCenterOfRotation(Distance, Distance) - Method in class yams.core.mechanisms.config.SwerveModuleConfig: Set the distance from the center of rotation for the SwerveModule.
withDrumRadius(Distance) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the Elevator drum radius
withDrumRadius(Distance, int) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the Elevator drum radius via the chain pitch (.25in or .35in) and teeth count.
withElevator(Distance, LinearVelocity, Distance, LinearVelocity, Distance, Mass, Distance) - Method in class yams.core.math.LQRConfig: Construct an Elevator LQR Configuration.
withElevatorFeedforward() - Method in class yams.core.telemetry.SmartMotorControllerTelemetryConfig: Enables the elevator feedforward logging if available.
withEncoderInverted(boolean) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the encoder inversion state.
withExponentialProfile(ExponentialProfile.Constraints) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the exponential profile for the SmartMotorController.
withExponentialProfile(Voltage, DCMotor, Mass, Distance) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Get the ExponentialProfile.Constraints for an elevator.
withExponentialProfile(Voltage, DCMotor, MomentOfInertia) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Get the ExponentialProfile.Constraints for an arm or flywheel.
withExponentialProfile(Voltage, AngularVelocity, AngularAcceleration) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Create a generic constraints object.
withExternalEncoder(Object) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the external encoder which is attached to the motor type sent used by SmartMotorController
withExternalEncoderDiscontinuityPoint(Angle) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the external encoder absolute position to wrap around a defined discontinuity point.
withExternalEncoderGearing(double) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the external encoder gearing.
withExternalEncoderGearing(MechanismGearing) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the external encoder gearing.
withExternalEncoderInverted(boolean) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the external encoder inversion state.
withExternalEncoderZeroOffset(Angle) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the zero offset of the SmartMotorController's external Encoder.
withExternalEncoderZeroOffset(Distance) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the zero offset of the SmartMotorController's external Encoder.
withFeedbackSynchronizationThreshold(Angle) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the feedback synchronization threshold so the relative encoder synchronizes with the absolute encoder at this point.
withFeedforward(ArmFeedforward) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Configure the ArmFeedforward for the SmartMotorController, units are in Rotations: kS and kG in volts, kV in volts per rotation per second and kA in volts per rotation per second squared.
withFeedforward(ArmFeedforward, SmartMotorController.ClosedLoopControllerSlot) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Configure the ArmFeedforward for the SmartMotorController, units are in Rotations: kS and kG in volts, kV in volts per rotation per second and kA in volts per rotation per second squared.
withFeedforward(ElevatorFeedforward) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Configure ElevatorFeedforward for the SmartMotorController
withFeedforward(ElevatorFeedforward, SmartMotorController.ClosedLoopControllerSlot) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Configure ElevatorFeedforward for the SmartMotorController
withFeedforward(SimpleMotorFeedforward) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the SimpleMotorFeedforward for SmartMotorController, units are in Rotations
withFeedforward(SimpleMotorFeedforward, SmartMotorController.ClosedLoopControllerSlot) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the SimpleMotorFeedforward for SmartMotorController, units are in Rotations
withField(String, BooleanSupplier, boolean) - Method in class yams.core.mechanisms.config.SensorConfig: Add a field to the sensor.
withField(String, DoubleSupplier, double) - Method in class yams.core.mechanisms.config.SensorConfig: Add a field to the sensor.
withField(String, IntSupplier, int) - Method in class yams.core.mechanisms.config.SensorConfig: Add a field to the sensor.
withField(String, LongSupplier, long) - Method in class yams.core.mechanisms.config.SensorConfig: Add a field to the sensor.
withFieldRelativeChassisSpeeds() - Method in class yams.core.telemetry.SwerveDriveTelemetryConfig: Enables the measured field relative chassis speeds logging.
withFlyWheel(AngularVelocity, AngularVelocity, AngularVelocity) - Method in class yams.core.math.LQRConfig: Construct a Flywheel LQR Configuration.
withFollowers(Pair...) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the follower motors of the SmartMotorController
withGearing(double) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the MechanismGearing for the SmartMotorController.
withGearing(MechanismGearing) - Method in class yams.core.mechanisms.config.DifferentialMechanismConfig: Set the gearing for the differential mechanism if it isn't 1:1.
withGearing(MechanismGearing) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the MechanismGearing for the SmartMotorController.
withGyro() - Method in class yams.core.telemetry.SwerveDriveTelemetryConfig: Enables the gyro angle logging.
withGyro(Supplier) - Method in class yams.core.mechanisms.config.SwerveDriveConfig: Set the gyro, as the robot's attitude: its yaw is the robot's heading (or the axis set with SwerveDriveConfig.withGyroHeadingAxis(GyroAxis)), and its roll and pitch are what anti-tipping corrects with (see SwerveDriveConfig.withAntiTipping(AntiTipping)).
withGyroAngularVelocityScaleFactor(double) - Method in class yams.core.mechanisms.config.SwerveDriveConfig: Set the angular velocity scale factor to improve the accuracy of the pose estimation.
withGyroHeadingAxis(GyroAxis) - Method in class yams.core.mechanisms.config.SwerveDriveConfig: Set which axis of the gyro points up through the robot, for a gyro mounted so the robot turning shows up as its roll or pitch instead of its yaw.
withGyroInverted(boolean) - Method in class yams.core.mechanisms.config.SwerveDriveConfig: Set the gyro inverted.
withGyroOffset(Angle) - Method in class yams.core.mechanisms.config.SwerveDriveConfig: Set the gyro offset.
withGyroVelocity(Supplier) - Method in class yams.core.mechanisms.config.SwerveDriveConfig: Angular velocity of the gyro.
withHardLimits(Angle, Angle) - Method in class yams.core.mechanisms.config.ArmConfig: Set the Hard Limits for simulation
withHardLimits(Angle, Angle) - Method in class yams.core.mechanisms.config.PivotConfig: Set the Hard Limits for simulation
withHardLimits(Distance, Distance) - Method in class yams.core.mechanisms.config.ElevatorConfig: Set the Hard Limits for simulation
withHeading(Supplier) - Method in class yams.commands2.swerve.SwerveInputStream: Set the field relative heading to face while heading control is enabled.
withHeading(Supplier) - Method in class yams.commands3.swerve.SwerveInputStream: Set the field relative heading to face while heading control is enabled.
withHeadingControl(BooleanSupplier) - Method in class yams.commands2.swerve.SwerveInputStream: Face the heading from SwerveInputStream.withHeading(Supplier) or SwerveInputStream.withControllerHeadingAxis(DoubleSupplier, DoubleSupplier) while enabled.
withHeadingControl(BooleanSupplier) - Method in class yams.commands3.swerve.SwerveInputStream: Face the heading from SwerveInputStream.withHeading(Supplier) or SwerveInputStream.withControllerHeadingAxis(DoubleSupplier, DoubleSupplier) while enabled.
withHorizontalElevator() - Method in class yams.core.mechanisms.config.ElevatorConfig: Set elevator as horizontal to avoid gravity simulation
withInputCurrentLimit(Current) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the stall supply current limit for the SmartMotorController
withLength(Distance) - Method in class yams.core.mechanisms.config.ArmConfig: Configure the Arms length for simulation.
withLength(Distance) - Method in class yams.core.mechanisms.config.DifferentialMechanismConfig: Set the length of the DifferentialMechanism.
withLinearClosedLoopController(boolean) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the closed loop controller to be Linear or Distance based.
withLocation(Translation2d) - Method in class yams.core.mechanisms.config.SwerveModuleConfig: Set the location for the SwerveModule in Meters from the center of rotation.
withLocation(Distance, Angle) - Method in class yams.core.mechanisms.config.SwerveModuleConfig: Set the location for the SwerveModule using polar coordinates.
withLocation(Distance, Distance) - Method in class yams.core.mechanisms.config.SwerveModuleConfig: Set the distance from the center of rotation for the SwerveModule.
withLooselyCoupledFollowers(SmartMotorController...) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Applies loosely coupled follower motors to the SmartMotorController.
withMaximumAngularVelocity(AngularVelocity) - Method in class yams.commands2.swerve.SwerveInputStream: Set the chassis angular velocity a full angular velocity axis maps to.
withMaximumAngularVelocity(AngularVelocity) - Method in class yams.commands3.swerve.SwerveInputStream: Set the chassis angular velocity a full angular velocity axis maps to.
withMaximumChassisSpeed(LinearVelocity, AngularVelocity) - Method in class yams.core.mechanisms.config.SwerveDriveConfig: Maximum speed of the chassis to desaturate towards.
withMaximumLinearVelocity(LinearVelocity) - Method in class yams.commands2.swerve.SwerveInputStream: Set the chassis linear velocity a full translation axis maps to.
withMaximumLinearVelocity(LinearVelocity) - Method in class yams.commands3.swerve.SwerveInputStream: Set the chassis linear velocity a full translation axis maps to.
withMaximumModuleSpeed(LinearVelocity) - Method in class yams.core.mechanisms.config.SwerveDriveConfig: Set the maximum speed of the modules to desaturate towards.
withMaxRobotHeight(Distance) - Method in class yams.core.mechanisms.config.MechanismPositionConfig: Set the height of the robot for visualization purposes.
withMaxRobotLength(Distance) - Method in class yams.core.mechanisms.config.MechanismPositionConfig: Set the length of the robot for visualization purposes.
withMaxVoltage(Voltage) - Method in class yams.core.math.LQRConfig: Set the maximum voltage for the LinearSystemLoop.
withMeasurementDelay(Time) - Method in class yams.core.math.LQRConfig: Set the measurement delay of the LQR.
withMeasurementPosition() - Method in class yams.core.telemetry.SmartMotorControllerTelemetryConfig: Enables the distance logging if available.
withMeasurementVelocity() - Method in class yams.core.telemetry.SmartMotorControllerTelemetryConfig: Enables the linear velocity logging if available.
withMechanism(Mechanism) - Method in class yams.commands3.config.SmartMotorControllerConfig: Sets the Mechanism for the SmartMotorControllerConfig to pass along to SmartMotorController and the mechanisms built on it.
withMechanism(Mechanism) - Method in class yams.commands3.config.SwerveDriveConfig: Define a Mechanism for the SwerveDrive
withMechanismCircumference(Distance) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the mechanism circumference to allow distance calculations on the SmartMotorController.
withMechanismLowerLimit() - Method in class yams.core.telemetry.SmartMotorControllerTelemetryConfig: Enables the mechanism lower limit logging if available.
withMechanismPosition() - Method in class yams.core.telemetry.SmartMotorControllerTelemetryConfig: Enables the mechanism position logging if available.
withMechanismPositionConfig(MechanismPositionConfig) - Method in class yams.core.mechanisms.config.ArmConfig: Set the elevator mechanism position configuration.
withMechanismPositionConfig(MechanismPositionConfig) - Method in class yams.core.mechanisms.config.DifferentialMechanismConfig: Set the differential mechanism position configuration.
withMechanismPositionConfig(MechanismPositionConfig) - Method in class yams.core.mechanisms.config.ElevatorConfig: Set the elevator mechanism position configuration.
withMechanismPositionConfig(MechanismPositionConfig) - Method in class yams.core.mechanisms.config.FlyWheelConfig: Set the shooter mechanism position configuration.
withMechanismPositionConfig(MechanismPositionConfig) - Method in class yams.core.mechanisms.config.PivotConfig: Set the elevator mechanism position configuration.
withMechanismUpperLimit() - Method in class yams.core.telemetry.SmartMotorControllerTelemetryConfig: Enables the mechanism upper limit logging if available.
withMechanismVelocity() - Method in class yams.core.telemetry.SmartMotorControllerTelemetryConfig: Enables the mechanism velocity logging if available.
withModules(SwerveModule...) - Method in class yams.core.mechanisms.config.SwerveDriveConfig: Set the SwerveModules for the SwerveDrive.
withModuleStateOptimization(boolean) - Method in class yams.core.mechanisms.config.SwerveDriveConfig: Enable or disable state optimization on every SwerveModule of the drive, overriding each module's SwerveModuleConfig.withOptimization(boolean).
withMOI(Distance, Mass) - Method in class yams.core.mechanisms.config.DifferentialMechanismConfig: Configure the MOI directly instead of estimating it with the length and mass of the DifferentialMechanism for simulation.
withMOI(MomentOfInertia) - Method in class yams.core.mechanisms.config.DifferentialMechanismConfig: Configure the MOI directly instead of estimating it with the length and mass of the DifferentialMechanism for simulation.
withMomentOfInertia(Distance, Mass) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Add the mechanism moment of inertia to the SmartMotorControllers simulation when not run under a formal mechanism.
withMomentOfInertia(MomentOfInertia) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Add the mechanism moment of inertia to the SmartMotorControllers simulation when not run under a formal mechanism.
withMotionProfile() - Method in class yams.core.telemetry.SmartMotorControllerTelemetryConfig: Enables the motion profile logging if available.
withMotorInverted(boolean) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the motor inversion state.
withMovementPlane(MechanismPositionConfig.Plane) - Method in class yams.core.mechanisms.config.MechanismPositionConfig: Set the plane that the mechanism is on, used for position calculations.
withNetworkTables(boolean) - Method in class yams.core.telemetry.SmartMotorControllerTelemetryConfig: Enable or disable NT4 Telemetry.
withNetworkTables(boolean) - Method in class yams.core.telemetry.SwerveDriveTelemetryConfig: Enable or disable NT4 Telemetry.
withNetworkTables(boolean) - Method in class yams.core.telemetry.SwerveModuleTelemetryConfig: Enable or disable NT4 Telemetry.
withOpenLoopRampRate(Time) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the open loop ramp rate.
withOptimization(boolean) - Method in class yams.core.mechanisms.config.SwerveModuleConfig: Use SwerveModuleVelocity.optimize(Rotation2d) to optimize each state: turn the wheel at most 90 degrees and reverse the drive instead.
withoutNetworkTables() - Method in class yams.core.telemetry.SmartMotorControllerTelemetryConfig: Disable NetworkTable output.
withoutNetworkTables() - Method in class yams.core.telemetry.SwerveDriveTelemetryConfig: Disable NetworkTable output.
withoutNetworkTables() - Method in class yams.core.telemetry.SwerveModuleTelemetryConfig: Disable NetworkTable output.
withOutputCurrentLimit(Current) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the stall stator current limit for the SmartMotorController
withOutputVoltage() - Method in class yams.core.telemetry.SmartMotorControllerTelemetryConfig: Enables the output voltage logging if available.
withParent(Supplier) - Method in class yams.core.mechanisms.config.MechanismPositionConfig: Mount the mechanism on another, such as an arm on an elevator's carriage, so it moves with it.
withPose() - Method in class yams.core.telemetry.SwerveDriveTelemetryConfig: Enables the pose logging.
withProfile(ExponentialProfile.Constraints) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the exponential profile
withProfile(TrapezoidProfile.Constraints) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the trapezoidal motion profile for the SmartMotorController.
withRelativePosition(Transform3d) - Method in class yams.core.mechanisms.config.MechanismPositionConfig: Set where the mechanism is mounted, relative to the robot, or to its parent, and how it is turned there.
withRelativePosition(Translation3d) - Method in class yams.core.mechanisms.config.MechanismPositionConfig: Set the position of the SmartPositionalMechanism relative to the robot.
withRelms(Voltage) - Method in class yams.core.math.LQRConfig: Set the control effort for the LQR.
withResetPreviousConfig(boolean) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the SmartMotorController to reset the old configurations and only apply what is given to SmartMotorControllerConfig
withRobotRelative() - Method in class yams.commands2.swerve.SwerveInputStream: Always treat the translation axes as robot relative.
withRobotRelative() - Method in class yams.commands3.swerve.SwerveInputStream: Always treat the translation axes as robot relative.
withRobotRelative(BooleanSupplier) - Method in class yams.commands2.swerve.SwerveInputStream: Treat the translation axes as robot relative while enabled.
withRobotRelative(BooleanSupplier) - Method in class yams.commands3.swerve.SwerveInputStream: Treat the translation axes as robot relative while enabled.
withRotationController(PIDController) - Method in class yams.core.mechanisms.config.SwerveDriveConfig: Set the rotation PID controller.
withRotorPosition() - Method in class yams.core.telemetry.SmartMotorControllerTelemetryConfig: Enables the rotor position logging if available.
withRotorVelocity() - Method in class yams.core.telemetry.SmartMotorControllerTelemetryConfig: Enables the rotor velocity logging if available.
withScaleRotation(double) - Method in class yams.commands2.swerve.SwerveInputStream: Scale the angular velocity axis.
withScaleRotation(double) - Method in class yams.commands3.swerve.SwerveInputStream: Scale the angular velocity axis.
withScaleTranslation(double) - Method in class yams.commands2.swerve.SwerveInputStream: Scale the translation axes.
withScaleTranslation(double) - Method in class yams.commands3.swerve.SwerveInputStream: Scale the translation axes.
withSetpointForce() - Method in class yams.core.telemetry.SmartMotorControllerTelemetryConfig: Enables the setpoint feedforward force logging if available.
withSetpointPosition() - Method in class yams.core.telemetry.SmartMotorControllerTelemetryConfig: Enables the setpoint position logging if available.
withSetpointVelocity() - Method in class yams.core.telemetry.SmartMotorControllerTelemetryConfig: Enables the setpoint velocity logging if available.
withSimClosedLoopController(double, double, double) - Method in class yams.core.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, SmartMotorController.ClosedLoopControllerSlot) - Method in class yams.core.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(PIDController) - Method in class yams.core.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(PIDController, SmartMotorController.ClosedLoopControllerSlot) - Method in class yams.core.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(LQRController) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the closed loop controller for the SmartMotorController.
withSimColor(Color8Bit) - Method in class yams.core.mechanisms.config.ArmConfig: Publish the color in sim as this.
withSimColor(Color8Bit) - Method in class yams.core.mechanisms.config.DifferentialMechanismConfig: Publish the color in sim as this.
withSimColor(Color8Bit) - Method in class yams.core.mechanisms.config.ElevatorConfig: Publish the color in sim as this.
withSimColor(Color8Bit) - Method in class yams.core.mechanisms.config.FlyWheelConfig: Publish the color in sim as this.
withSimColor(Color8Bit) - Method in class yams.core.mechanisms.config.PivotConfig: Publish the color in sim as this.
withSimDiscretizationTime(Time) - Method in class yams.core.mechanisms.config.SwerveDriveConfig: Set the discretization time for the pose estimation.
withSimFeedforward(ArmFeedforward) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Configure the ArmFeedforward for the SmartMotorController, units are in Rotations: kS and kG in volts, kV in volts per rotation per second and kA in volts per rotation per second squared.
withSimFeedforward(ArmFeedforward, SmartMotorController.ClosedLoopControllerSlot) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Configure the ArmFeedforward for the SmartMotorController, units are in Rotations: kS and kG in volts, kV in volts per rotation per second and kA in volts per rotation per second squared.
withSimFeedforward(ElevatorFeedforward) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Configure ElevatorFeedforward for the SmartMotorController
withSimFeedforward(ElevatorFeedforward, SmartMotorController.ClosedLoopControllerSlot) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Configure ElevatorFeedforward for the SmartMotorController
withSimFeedforward(SimpleMotorFeedforward) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the SimpleMotorFeedforward for SmartMotorController, units are in Rotations.
withSimFeedforward(SimpleMotorFeedforward, SmartMotorController.ClosedLoopControllerSlot) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the SimpleMotorFeedforward for SmartMotorController, units are in Rotations.
withSimGyroAngularVelocityScaleFactor(double) - Method in class yams.core.mechanisms.config.SwerveDriveConfig: Set the angular velocity scale factor to improve the accuracy of the pose estimation.
withSimpleFeedforward() - Method in class yams.core.telemetry.SmartMotorControllerTelemetryConfig: Enables the simple feedforward logging if available.
withSimRotationController(PIDController) - Method in class yams.core.mechanisms.config.SwerveDriveConfig: Set the rotation PID controller.
withSimStartingPosition(Angle) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the starting angle of the SmartMotorController to be used only in simulation
withSimStartingPosition(Distance) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the starting angle of the SmartMotorController to be used only in simulation
withSimTranslationController(PIDController) - Method in class yams.core.mechanisms.config.SwerveDriveConfig: Set the translation PID controller.
withSimulatedValue(String, BooleanSupplier, boolean) - Method in class yams.core.mechanisms.config.SensorConfig: Add a simulated value to the sensor at a given trigger.
withSimulatedValue(String, BooleanSupplier, double) - Method in class yams.core.mechanisms.config.SensorConfig: Add a simulated value to the sensor at a given trigger.
withSimulatedValue(String, BooleanSupplier, int) - Method in class yams.core.mechanisms.config.SensorConfig: Add a simulated value to the sensor at a given trigger.
withSimulatedValue(String, BooleanSupplier, long) - Method in class yams.core.mechanisms.config.SensorConfig: Add a simulated value to the sensor at a given trigger.
withSimulatedValue(String, Time, Time, boolean) - Method in class yams.core.mechanisms.config.SensorConfig: Add a simulated value to the sensor at a given match time.
withSimulatedValue(String, Time, Time, double) - Method in class yams.core.mechanisms.config.SensorConfig: Add a simulated value to the sensor at a given match time.
withSimulatedValue(String, Time, Time, int) - Method in class yams.core.mechanisms.config.SensorConfig: Add a simulated value to the sensor at a given match time.
withSimulatedValue(String, Time, Time, long) - Method in class yams.core.mechanisms.config.SensorConfig: Add a simulated value to the sensor at a given match time.
withSimulationPeriod(Time) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the simulation loop period the rate at which SmartMotorController.simIterate() steps the simulated physics forward.
withSmartMotorController(SmartMotorController, SmartMotorController) - Method in class yams.core.mechanisms.config.SwerveModuleConfig: Set the SmartMotorController for the SwerveModule.
withSmartMotorControllers(SmartMotorController, SmartMotorController) - Method in class yams.core.mechanisms.config.DifferentialMechanismConfig: Add the smart motor controllers to the configuration.
withSoftLimits(Angle, Angle) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the angle soft limits.
withSoftLimits(Distance, Distance) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the distance soft limits.
withSpeedometerSimulation() - Method in class yams.core.mechanisms.config.FlyWheelConfig: Enables the use of the speedometer simulation for the shooter.
withSpeedometerSimulation(AngularVelocity) - Method in class yams.core.mechanisms.config.FlyWheelConfig: Enables the use of the speedometer simulation for the shooter.
withStages(Distance...) - Method in class yams.core.mechanisms.config.ElevatorConfig: Set the elevator's moving stages, for the pose of each stage from Elevator.getCascadePose3d() or Elevator.getContinuousPose3d(boolean).
withStartingPose(Pose2d) - Method in class yams.core.mechanisms.config.SwerveDriveConfig: Set the starting pose of the robot.
withStartingPosition(Angle) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the starting angle of the SmartMotorController
withStartingPosition(Angle, Angle) - Method in class yams.core.mechanisms.config.DifferentialMechanismConfig: Set the DifferentialMechanism starting positions.
withStartingPosition(Distance) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the starting angle of the SmartMotorController
withState() - Method in class yams.core.telemetry.SwerveModuleTelemetryConfig: Enables the SwerveModuleVelocity logging.
withStatorCurrent() - Method in class yams.core.telemetry.SmartMotorControllerTelemetryConfig: Enables the stator current logging if available.
withStatorCurrentLimit(Current) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the stall stator current limit for the SmartMotorController
withSubsystem(Subsystem) - Method in class yams.commands2.config.SmartMotorControllerConfig: Sets the Subsystem for the SmartMotorControllerConfig to pass along to SmartMotorController and the mechanisms built on it.
withSubsystem(Subsystem) - Method in class yams.commands2.config.SwerveDriveConfig: Define a Subsystem for the SwerveDrive
withSupplyCurrentLimit(Current) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the stall supply current limit for the SmartMotorController
withTelemetry(String, TelemetryVerbosity) - Method in class yams.commands2.swerve.SwerveInputStream: Publish this stream's telemetry under SwerveInputStream/<name>, updated every time the stream is read.
withTelemetry(String, TelemetryVerbosity) - Method in class yams.commands3.swerve.SwerveInputStream: Publish this stream's telemetry under SwerveInputStream/<name>, updated every time the stream is read.
withTelemetry(String, TelemetryVerbosity) - Method in class yams.core.mechanisms.config.ArmConfig: Configure telemetry for the Arm mechanism.
withTelemetry(String, TelemetryVerbosity) - Method in class yams.core.mechanisms.config.DifferentialMechanismConfig: Configure telemetry for the Pivot mechanism.
withTelemetry(String, TelemetryVerbosity) - Method in class yams.core.mechanisms.config.ElevatorConfig: Configure telemetry for the Elevator mechanism.
withTelemetry(String, TelemetryVerbosity) - Method in class yams.core.mechanisms.config.FlyWheelConfig: Configure telemetry for the FlyWheel mechanism.
withTelemetry(String, TelemetryVerbosity) - Method in class yams.core.mechanisms.config.PivotConfig: Configure telemetry for the Pivot mechanism.
withTelemetry(String, TelemetryVerbosity) - Method in class yams.core.mechanisms.config.SwerveDriveConfig: Configure telemetry for the SwerveModule mechanism.
withTelemetry(String, TelemetryVerbosity) - Method in class yams.core.mechanisms.config.SwerveModuleConfig: Configure telemetry for the SwerveModule mechanism.
withTelemetry(String, TelemetryVerbosity) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the telemetry for the SmartMotorController
withTelemetry(String, SmartMotorControllerTelemetryConfig) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the telemetry for the SmartMotorController with a SmartMotorControllerTelemetryConfig
withTelemetry(String, SwerveDriveTelemetryConfig) - Method in class yams.core.mechanisms.config.SwerveDriveConfig: Configure telemetry for the SwerveDrive with a SwerveDriveTelemetryConfig.
withTelemetry(String, SwerveModuleTelemetryConfig) - Method in class yams.core.mechanisms.config.SwerveModuleConfig: Configure telemetry for the SwerveModule mechanism with a SwerveModuleTelemetryConfig.
withTelemetry(TelemetryVerbosity) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the telemetry for the SmartMotorController
withTelemetryVerbosity(TelemetryVerbosity) - Method in class yams.core.telemetry.SmartMotorControllerTelemetryConfig: Setup with TelemetryVerbosity
withTelemetryVerbosity(TelemetryVerbosity) - Method in class yams.core.telemetry.SwerveDriveTelemetryConfig: Setup with TelemetryVerbosity
withTelemetryVerbosity(TelemetryVerbosity) - Method in class yams.core.telemetry.SwerveModuleTelemetryConfig: Setup with TelemetryVerbosity
withTemperature() - Method in class yams.core.telemetry.SmartMotorControllerTelemetryConfig: Enables the temperature logging if available.
withTemperatureCutoff(Temperature) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the Temperature cut off for the SmartMotorController/
withTemperatureLimit() - Method in class yams.core.telemetry.SmartMotorControllerTelemetryConfig: Enables the temperature limit logging if available.
withTiltStartingPosition(Angle) - Method in class yams.core.mechanisms.config.DifferentialMechanismConfig: Set the DifferentialMechanism tilt starting position.
withTranslationController(PIDController) - Method in class yams.core.mechanisms.config.SwerveDriveConfig: Set the translation PID controller.
withTranslationHeadingOffset(Rotation2d) - Method in class yams.commands2.swerve.SwerveInputStream: Always rotate the output translation by an offset.
withTranslationHeadingOffset(Rotation2d) - Method in class yams.commands3.swerve.SwerveInputStream: Always rotate the output translation by an offset.
withTranslationHeadingOffset(Rotation2d, BooleanSupplier) - Method in class yams.commands2.swerve.SwerveInputStream: Rotate the output translation by an offset while enabled.
withTranslationHeadingOffset(Rotation2d, BooleanSupplier) - Method in class yams.commands3.swerve.SwerveInputStream: Rotate the output translation by an offset while enabled.
withTranslationOnly(BooleanSupplier) - Method in class yams.commands2.swerve.SwerveInputStream: Hold the heading the robot had when enabled and only translate.
withTranslationOnly(BooleanSupplier) - Method in class yams.commands3.swerve.SwerveInputStream: Hold the heading the robot had when enabled and only translate.
withTrapezoidalProfile(AngularAcceleration, Velocity) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the angular velocity trapezoidal profile for the SmartMotorController.
withTrapezoidalProfile(AngularVelocity, AngularAcceleration) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the angular trapezoidal motion profile for the SmartMotorController.
withTrapezoidalProfile(LinearAcceleration, Velocity) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the linear velocity trapezoidal profile for the SmartMotorController.
withTrapezoidalProfile(LinearVelocity, LinearAcceleration) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the linear trapezoidal motion profile for the SmartMotorController.
withTrapezoidalProfileConstraints(TrapezoidProfile.Constraints) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Replace the trapezoidal profile's constraints, keeping how the profile is used (position or velocity, rotational or linear).
withTwistStartingPosition(Angle) - Method in class yams.core.mechanisms.config.DifferentialMechanismConfig: Set the DifferentialMechanism twist starting position.
withUseExternalFeedbackEncoder(boolean) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the external encoder to be the primary feedback device for the PID controller.
withVelocityControl() - Method in class yams.core.telemetry.SmartMotorControllerTelemetryConfig: Enables the velocity control mode logging if available.
withVelocityDeadband(LinearVelocity) - Method in class yams.core.mechanisms.config.SwerveModuleConfig: Set the velocity deadband: a requested wheel speed at or below it is too slow to steer by, so the module stops and holds its angle instead of turning toward controller noise.
withVelocityMeasurementDelay() - Method in class yams.core.telemetry.SmartMotorControllerTelemetryConfig: Enables logging how far behind the mechanism the measured velocity is, when it is known.
withVelocityTrapezoidalProfile(boolean) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the trapezoidal profile to be read explicitly as a velocity profile.
withVendorConfig(Object) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the vendor specific config for the SmartMotorController which will be used as a base.
withVendorControlRequest(Object) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the vendor specific control request for the SmartMotorController which will be used in place of default or calculated ones.
withVoltageCompensation(Voltage) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the voltage compensation for the SmartMotorController
withWheelDiameter(Distance) - Method in class yams.core.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.core.motorcontrollers.SmartMotorControllerConfig: Set the wheel diameter for the mechanism.
withWheelRadius(Distance) - Method in class yams.core.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.core.motorcontrollers.SmartMotorControllerConfig: Set the wheel radius for the mechanism.
withZeroPower(MotorMode) - Method in class yams.core.motorcontrollers.SmartMotorControllerConfig: Set the SmartMotorController to brake or coast mode.

X

XY - Enum constant in enum class yams.core.mechanisms.config.MechanismPositionConfig.Plane: X-Y Plane
XZ - Enum constant in enum class yams.core.mechanisms.config.MechanismPositionConfig.Plane: X-Z Plane

Y

yams.commands2.config - package yams.commands2.config: Builder-style configuration classes for every mechanism in the YAMS library.
yams.commands2.mechanisms - package yams.commands2.mechanisms
yams.commands2.swerve - package yams.commands2.swerve: Swerve drive mechanism classes.
yams.commands2.telemetry - package yams.commands2.telemetry
yams.commands3.config - package yams.commands3.config: Commands v3 configuration classes for the YAMS library.
yams.commands3.mechanisms - package yams.commands3.mechanisms
yams.commands3.swerve - package yams.commands3.swerve: Commands v3 swerve drive.
yams.commands3.telemetry - package yams.commands3.telemetry
yams.core.exceptions - package yams.core.exceptions: Exceptions for YAMS.
yams.core.gearing - package yams.core.gearing: Yet Another Mechanism System gearing classes for easier calculations.
yams.core.math - package yams.core.math: Yet Another Mechanism System math classes for easier calculations.
yams.core.mechanisms - package yams.core.mechanisms: Top-level mechanism abstractions for the YAMS (Yet Another Mechanism System) library.
yams.core.mechanisms.config - package yams.core.mechanisms.config: Builder-style configuration classes for every mechanism in the YAMS library.
yams.core.mechanisms.config.enums - package yams.core.mechanisms.config.enums: Enums used to configure mechanisms: the gyro axis a SwerveDriveConfig reads its heading from.
yams.core.mechanisms.positional - package yams.core.mechanisms.positional: Position-controlled mechanism implementations for the YAMS library.
yams.core.mechanisms.swerve - package yams.core.mechanisms.swerve: Swerve drive mechanism classes.
yams.core.mechanisms.velocity - package yams.core.mechanisms.velocity: Velocity-controlled mechanism implementations for the YAMS library.
yams.core.motorcontrollers - package yams.core.motorcontrollers: Hardware-agnostic motor controller abstractions for FRC mechanisms.
yams.core.motorcontrollers.enums - package yams.core.motorcontrollers.enums: Enums used to configure a SmartMotorController: control mode and zero power mode.
yams.core.motorcontrollers.local - package yams.core.motorcontrollers.local: REV Robotics motor controller wrappers whose closed-loop control runs on the roboRIO.
yams.core.motorcontrollers.remote - package yams.core.motorcontrollers.remote: CTRE motor controller wrappers whose closed-loop control runs on the motor controller itself.
yams.core.motorcontrollers.simulation - package yams.core.motorcontrollers.simulation: Physics-based simulation suppliers for YAMS motor controllers.
yams.core.telemetry - package yams.core.telemetry: NetworkTables publishers for mechanism and motor controller state.
yams.core.telemetry.enums - package yams.core.telemetry.enums: Enums used to configure YAMS telemetry.
yams.core.units - package yams.core.units: Extended unit-of-measure types and conversion helpers.
Yard - Static variable in class yams.core.units.YUnits: 914.4/1000 of a Units.Meters, or 3 Units.Feet.
Yards - Static variable in class yams.core.units.YUnits: 914.4/1000 of a Units.Meters, or 3 Units.Feet.
YAW - Enum constant in enum class yams.core.mechanisms.config.enums.GyroAxis: The gyro's Z axis points up: the robot turning is the gyro's yaw.
Year - Static variable in class yams.core.units.YUnits: Alias for YUnits.Years to make combined unit definitions read more smoothly.
Years - Static variable in class yams.core.units.YUnits: 525600 Units.Minutes.
Yet Another Mechanism System (YAMS) - Section in Overview
YMotors - Class in yams.core.motorcontrollers: DCMotor models of motors WPILib does not have a model of.
YUnits - Class in yams.core.units: YUnits that are fun and useful!
YZ - Enum constant in enum class yams.core.mechanisms.config.MechanismPositionConfig.Plane: Y-Z Plane

Z

zeroGyro() - Method in class yams.core.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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