Package yams.commands3.config

package yams.commands3.config

Commands v3 configuration classes for the YAMS library.

These classes extend the core configurations with the Mechanism that the resulting commands require:

• SmartMotorControllerConfig motor controller configuration, also used to set up live tuning commands
• SwerveDriveConfig swerve drive configuration for SwerveDrive

Mechanism configurations (e.g. ArmConfig, FlyWheelConfig) have no command dependency and come from yams.core.mechanisms.config.

Example

public class ShooterMechanism implements Mechanism {
  private final SmartMotorControllerConfig config = new SmartMotorControllerConfig(this)
          .withControlMode(ControlMode.CLOSED_LOOP)
          .withClosedLoopController(0.01, 0, 0)
          .withStatorCurrentLimit(Amps.of(40));
}

See Also:

• yams.core.mechanisms.config
• SmartMotorController

Classes

Class	Description
SmartMotorControllerConfig	Command-based extension of SmartMotorControllerConfig that adds the Mechanism binding and command-layer helpers (e.g.
SwerveDriveConfig	Command-based extension of SwerveDriveConfig that adds the Mechanism binding.