> For the complete documentation index, see [llms.txt](https://yams.yassrobotics.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://yams.yassrobotics.com/api-reference/c++-reference/config/elevator-config.md).

# ElevatorConfig

**Namespace:** `yams::mechanisms::config` **Java equivalent:** [Java ElevatorConfig](/api-reference/java-reference/config/elevator-config.md)

`ElevatorConfig` holds physical and simulation parameters for an `Elevator` mechanism.

***

## Constructor

```cpp
ElevatorConfig() = default;
```

***

## Builder Methods

All methods return `ElevatorConfig&` for chaining.

| Method                                       | Description                                                                    |
| -------------------------------------------- | ------------------------------------------------------------------------------ |
| `WithTelemetryName(const std::string& name)` | Name used for SmartDashboard and log entries                                   |
| `WithMinimumHeight(units::meter_t height)`   | Minimum allowable carriage height                                              |
| `WithMaximumHeight(units::meter_t height)`   | Maximum allowable carriage height                                              |
| `WithCarriageMass(units::kilogram_t mass)`   | **Required for simulation.** Mass of the carriage, used in simulation          |
| `WithIsHorizontal(bool horizontal)`          | When `true`, disables gravity simulation. Useful for horizontal linear sliders |
| `WithSimColor(const frc::Color8Bit& color)`  | Color of the simulated elevator (default: orange)                              |
| `WithAngle(units::degree_t angle)`           | Angle of the elevator ligament in Mechanism2d (default: `90_deg`, vertical)    |

> **Note:** Drum radius (spool size) is configured on `SmartMotorControllerConfig` via `.WithDrumRadius()` or `.WithMechanismCircumference()`. Cascading elevator stages are configured via `SmartMotorControllerConfig::WithCascadingElevatorStages(int stages)`.

***

## Getters

```cpp
std::string GetTelemetryName() const;
std::optional<units::meter_t> GetMinHeight() const;
std::optional<units::meter_t> GetMaxHeight() const;
std::optional<units::kilogram_t> GetCarriageMass() const;
bool IsHorizontal() const;
frc::Color8Bit GetSimColor() const;
units::degree_t GetAngle() const;
```

Getters for optional fields return `std::nullopt` if the corresponding setter was not called.

***

## Exceptions

| Exception                                    | Thrown When                                                                 |
| -------------------------------------------- | --------------------------------------------------------------------------- |
| `exceptions::ElevatorConfigurationException` | Required fields are missing or invalid when used to construct an `Elevator` |

***

## Example

```cpp
config::ElevatorConfig elevConfig;
elevConfig.WithMinimumHeight(0.0_m)
          .WithMaximumHeight(1.5_m)
          .WithCarriageMass(4.5_kg)
          .WithTelemetryName("Elevator");
```