> 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/flywheel-config.md).

# FlyWheelConfig

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

`FlyWheelConfig` holds physical and simulation parameters for a `FlyWheel` mechanism.

{% hint style="info" %}
**Simulation Note:** Moment of inertia is not configured on `FlyWheelConfig`. Set it via `SmartMotorControllerConfig::WithMOI()`.
{% endhint %}

***

## Constructor

```cpp
FlyWheelConfig() = default;
```

***

## Builder Methods

All methods return `FlyWheelConfig&` for chaining.

| Method                                        | Description                                                         |
| --------------------------------------------- | ------------------------------------------------------------------- |
| `WithTelemetryName(const std::string& name)`  | Name used for SmartDashboard and log entries                        |
| `WithRollerDiameter(units::meter_t diameter)` | Roller/flywheel outer diameter, used for surface speed calculations |
| `WithSimColor(const frc::Color8Bit& color)`   | Color of the simulated flywheel (default: orange)                   |

***

## Getters

```cpp
std::string GetTelemetryName() const;
std::optional<units::meter_t> GetRollerDiameter() const;
frc::Color8Bit GetSimColor() const;
```

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

***

## Example

```cpp
config::FlyWheelConfig flywheelConfig;
flywheelConfig.WithRollerDiameter(0.1016_m)
              .WithTelemetryName("Shooter");
```