> 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/cpp.md).

# Overview

The YAMS C++ API mirrors the Java API under the `yams` namespace, with subsections following WPILib conventions. Mechanism classes live in `yams::mechanisms`, motor controller types in `yams::motorcontrollers`, swerve in `yams::swerve`, gearing in `yams::gearing`, and math utilities in `yams::math`. All physical quantities use the `units::` type library from WPILib: for example, `units::degree_t` instead of `Angle`, and `units::meters_per_second_t` for velocity. The `SwerveDrive` class is a template parameterized on the number of modules, matching the WPILib `SwerveDriveKinematics` convention. Configuration structs use the same fluent `With*` builder methods as their Java counterparts.

**Top-level namespaces**

* `yams::mechanisms`: Arm, Elevator, Pivot, FlyWheel
* `yams::mechanisms::config`: ArmConfig, ElevatorConfig, PivotConfig, FlyWheelConfig
* `yams::motorcontrollers`: SmartMotorController, SmartMotorControllerConfig
* `yams::swerve`: SwerveDrive\<N>, SwerveModule, SwerveInputStream
* `yams::gearing`: GearBox, Sprocket, MechanismGearing
* `yams::math`: LQRConfig, LQRController, DerivativeTimeFilter
* `yams::units`: EasyCRT