Package yams.core.exceptions

package yams.core.exceptions

Exceptions for YAMS. Will tell you what went wrong and how to fix it.

This package contains the checked and unchecked exceptions thrown by YAMS when mechanisms or motor controllers are misconfigured. All exceptions include a human-readable message that identifies the missing or invalid field and, where possible, suggests the corrective action. They are typically thrown during mechanism construction before any control loop begins so configuration errors surface immediately at robot startup rather than silently producing unexpected behavior at match time.

Per-Mechanism Configuration Exceptions

Each mechanism type has a dedicated exception thrown when its required configuration fields are absent or logically inconsistent:

• ArmConfigurationException single-jointed arm config errors
• ElevatorConfigurationException elevator config errors
• FlyWheelConfigurationException flywheel config errors
• PivotConfigurationException pivot config errors
• SwerveDriveConfigurationException swerve drive config errors
• DifferentialMechanismConfigurationException differential drive config errors
• DoubleJointedArmConfigurationException double-jointed arm config errors

Motor Controller Exceptions

Thrown when a motor controller is missing or its configuration is invalid:

• SmartMotorControllerConfigurationException the motor controller wrapper itself has an invalid or incomplete configuration
• MotorNotPresentException a required motor controller could not be found on the CAN bus or is otherwise unavailable

Gear Stage Exceptions

Thrown by GearBox when its list of stages is malformed:

• NoStagesGivenException a GearBox was constructed with an empty stage list
• InvalidStageGivenException one or more stages in a GearBox have an illegal value (e.g., zero or negative tooth counts)

Exception Classes

Class	Description
ArmConfigurationException	Thrown by Arm when a required ArmConfig field is missing or invalid.
DifferentialMechanismConfigurationException	Thrown by DifferentialMechanism or DifferentialMechanismConfig when a required field is missing or an attempt is made to violate a config invariant.
DoubleJointedArmConfigurationException	Thrown by DoubleJointedArm when a required field in the lower-joint or upper-joint ArmConfig is missing or invalid.
ElevatorConfigurationException	Thrown by Elevator when a required ElevatorConfig field is missing or invalid.
FlyWheelConfigurationException	Thrown by FlyWheel or FlyWheelConfig when a required field in FlyWheelConfig is missing or invalid.
InvalidStageGivenException	Thrown by GearBox and Sprocket when a gear stage string is not in the required "IN:OUT" format.
MotorNotPresentException	Thrown by a SmartMechanism subclass when the primary SmartMotorController has not been set before the mechanism attempts to use it.
NoStagesGivenException	Thrown by GearBox, Sprocket, and SmartMath when a gear reduction calculation is requested but no gear stages were supplied.
PivotConfigurationException	Thrown by Pivot or PivotConfig when a required field in PivotConfig is missing or invalid.
SmartMotorControllerConfigurationException	Thrown by SmartMotorControllerConfig or a SmartMotorController wrapper when the applied configuration contains conflicting, incomplete, or incompatible settings.
SwerveDriveConfigurationException	Thrown by SwerveDrive or SwerveDriveConfig when a required field is missing or a config invariant is violated.