YAMS (Yet Another Mechanism Suite) is a WPILib vendordep library for FRC robots. It provides a unified motor controller abstraction over REV and CTRE hardware, pre-built mechanism classes for common robot subsystems, and advanced control algorithms, all with simulation support and automatic NetworkTables telemetry. Both Java and C++ are supported with parallel APIs.
- Motor controller abstraction: a single
SmartMotorControllerinterface over SPARK MAX, SPARK FLEX, TalonFX, and TalonFXS - Mechanism classes:
Arm,Elevator,Pivot,FlyWheel,DoubleJointedArm,DifferentialMechanism, andSwerveDrive - Advanced control: LQR, exponential motion profiles, trapezoidal profiles, and a derivative-time filter
- Extended units:
YUnitsconstants andEasyCRTmulti-encoder absolute position solver - Simulation: built-in sim support for all mechanism classes via WPILib's simulation framework
| Device | Vendor | Interface |
|---|---|---|
| SPARK MAX | REV Robotics | CAN |
| SPARK FLEX | REV Robotics | CAN |
| TalonFX | CTR Electronics | CAN |
| TalonFXS | CTR Electronics | CAN |