Package yams.core.mechanisms.velocity

package yams.core.mechanisms.velocity
Velocity-controlled mechanism implementations for the YAMS library.

This package contains concrete mechanism classes that regulate a velocity setpoint rather than a position. All classes extend SmartVelocityMechanism, which provides closed-loop velocity control, feedforward integration, simulation wiring, and WPILib command/trigger support.

Available Mechanisms

  • FlyWheel single or dual-motor flywheel configured with FlyWheelConfig. Accepts both AngularVelocity (e.g. RPM) and LinearVelocity (e.g. surface speed in m/s) setpoints when a wheel radius is provided in the config.

Running the Mechanism

  • run(velocity) commands the mechanism to spin at the given velocity. Accepts either AngularVelocity or LinearVelocity and returns a Command that holds the setpoint until interrupted.
  • runTo(velocity) like run(), but the returned Command does not finish until the mechanism is within the configured velocity tolerance of the setpoint. Useful when downstream actions must wait for the flywheel to spin up.
FlyWheelConfig config = new FlyWheelConfig(motor)
    .withWheelRadius(Inches.of(2))
    .withVelocityTolerance(RotationsPerSecond.of(1));

FlyWheel flyWheel = new FlyWheel(config);

// Spin at a linear surface speed and wait until up to speed before shooting
flyWheel.runTo(MetersPerSecond.of(10))
        .andThen(shooter.fireCommand())
        ;

// Spin at an angular velocity (does not wait for spin-up)
flyWheel.run(RotationsPerSecond.of(50));

Unsupported Operations

Because velocity mechanisms do not track an absolute position, the positional limit triggers max() and min() are not supported and will throw UnsupportedOperationException if called. Use the velocity-based triggers (near(), gte(), lte()) for condition-based scheduling instead.

See Also: