> 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/pivot-config.md).

# PivotConfig

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

`PivotConfig` holds physical and simulation parameters for a `Pivot` mechanism. A pivot is a single-jointed rotational mechanism without a load-bearing length (use `ArmConfig` if arm length affects simulation accuracy).

***

## Constructor

```cpp
PivotConfig() = default;
```

***

## Builder Methods

All methods return `PivotConfig&` for chaining.

> **All methods are optional.** Unlike `ArmConfig`, `PivotConfig` has no simulation-required parameters: a pivot does not use arm length in its physics model.

| Method                                       | Required | Description                                                          |
| -------------------------------------------- | -------- | -------------------------------------------------------------------- |
| `WithTelemetryName(const std::string& name)` | Optional | Name used for SmartDashboard and log entries                         |
| `WithMinAngle(units::degree_t angle)`        | Optional | Minimum allowable mechanism angle                                    |
| `WithMaxAngle(units::degree_t angle)`        | Optional | Maximum allowable mechanism angle                                    |
| `WithSimColor(const frc::Color8Bit& color)`  | Optional | Color of the simulated pivot ligament. Defaults to green if not set. |

***

## Getters

```cpp
std::string GetTelemetryName() const;
std::optional<units::degree_t> GetMinAngle() const;
std::optional<units::degree_t> GetMaxAngle() const;
frc::Color8Bit GetSimColor() const;
```

Getters for optional fields return `std::nullopt` if the corresponding setter was not called. `GetSimColor()` always returns a value (defaults to green).

***

## Exceptions

| Exception                                 | Thrown When                                                                                  |
| ----------------------------------------- | -------------------------------------------------------------------------------------------- |
| `exceptions::PivotConfigurationException` | Values are invalid when used to construct a `Pivot` (e.g., min angle greater than max angle) |

***

## Example

```cpp
config::PivotConfig pivotConfig;
pivotConfig.WithMinAngle(0_deg)
           .WithMaxAngle(180_deg)
           .WithTelemetryName("Wrist");
```