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Java API

The YAMS Java API is organized into six top-level areas: mechanisms (yams.mechanisms), mechanism configuration (yams.mechanisms.config), motor controllers (yams.motorcontrollers), swerve drive (yams.swerve), math and control (yams.math), and units/utilities (yams.units). Each mechanism class accepts a corresponding config object built with a fluent builder pattern, and all mechanisms publish telemetry to NetworkTables automatically.

Top-level packages

  • yams.mechanisms: Arm, Elevator, Pivot, FlyWheel, DoubleJointedArm, DifferentialMechanism
  • yams.mechanisms.config: ArmConfig, ElevatorConfig, PivotConfig, FlyWheelConfig, DifferentialMechanismConfig
  • yams.motorcontrollers: SmartMotorController, SmartMotorControllerConfig, SparkWrapper, TalonFXWrapper
  • yams.swerve: SwerveDrive, SwerveModule, SwerveDriveConfig, SwerveModuleConfig, SwerveInputStream
  • yams.gearing: GearBox, Sprocket, MechanismGearing
  • yams.math: SmartMath, ExponentialProfilePIDController, LQRConfig, LQRController, DerivativeTimeFilter
  • yams.units: YUnits, EasyCRT