Package yams.core.mechanisms.config

package yams.core.mechanisms.config

Builder-style configuration classes for every mechanism in the YAMS library.

Every YAMS mechanism requires a corresponding config object to be constructed before the mechanism itself is instantiated. Config classes follow a fluent builder pattern: each with*() setter mutates the config and returns this, allowing calls to be chained in a single expression.

Available Configuration Classes

• ArmConfig single-jointed arm with angle limits and feedforward tuning
• ElevatorConfig linear elevator with height limits and gravity compensation
• PivotConfig pivot mechanism with continuous or bounded rotation
• FlyWheelConfig flywheel velocity mechanism with optional second follower motor
• SwerveDriveConfig full swerve-drive chassis geometry and module layout
• SwerveModuleConfig per-module drive and steer motor configuration
• DifferentialMechanismConfig differential (tank-drive) mechanism pairing two motors
• MechanismPositionConfig position targets and tolerance settings shared across positional mechanisms
• SensorConfig external encoder or absolute sensor attachment configuration

Motor Controller Requirement

A SmartMotorController must be provided before most mechanisms can be constructed. It may be supplied either through the config constructor or via the withSmartMotorController() setter:

SmartMotorController motor = new TalonFXController(new TalonFX(1));

// Option A: pass in the constructor
ElevatorConfig config = new ElevatorConfig(motor)
    .withMaxHeight(Meters.of(1.5))
    .withGearing(9.0);

// Option B: set via fluent API
ElevatorConfig config = new ElevatorConfig()
    .withSmartMotorController(motor)
    .withMaxHeight(Meters.of(1.5))
    .withGearing(9.0);

Fluent Chaining Example

ArmConfig armConfig = new ArmConfig(motor)
    .withGearing(100.0)
    .withSoftLimits(Rotation2d.fromDegrees(-90), Rotation2d.fromDegrees(90))
    .withFeedforward(new ArmFeedforward(0.1, 0.5, 1.2))
    .withSensor(new SensorConfig(encoder).withOffset(Rotation2d.fromDegrees(15)));

See Also:

• SmartMechanism
• SmartMotorController

Related Packages

Package	Description
yams.core.mechanisms	Top-level mechanism abstractions for the YAMS (Yet Another Mechanism System) library.
yams.core.mechanisms.config.enums	Enums used to configure mechanisms: the gyro axis a SwerveDriveConfig reads its heading from.
yams.core.mechanisms.positional	Position-controlled mechanism implementations for the YAMS library.
yams.core.mechanisms.swerve	Swerve drive mechanism classes.
yams.core.mechanisms.velocity	Velocity-controlled mechanism implementations for the YAMS library.

Class	Description
ArmConfig	Arm configuration class.
DifferentialMechanismConfig	Configuration for a DifferentialMechanism driven by two coordinated motors working differentially.
ElevatorConfig	Elevator configuration class.
FlyWheelConfig	FlyWheel configuration class.
MechanismPositionConfig	A configuration class for specifying the position and visualization properties of a mechanism relative to a robot in a 3D coordinate system.
MechanismPositionConfig.Plane	The planes that the mechanism could be on, used for position calculations.
PivotConfig	Pivot configuration class.
SensorConfig	Sensor configuration for simulated and real sensors.
SwerveDriveConfig<T extends SwerveDriveConfig<T>>	Swerve Drive Configuration.
SwerveModuleConfig	Swerve Module