> 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/motor-controllers/smart-motor-controller-config.md). # SmartMotorControllerConfig **Namespace:** `yams::motorcontrollers` `SmartMotorControllerConfig` configures a [`SmartMotorController`](/api-reference/c++-reference/motor-controllers/smart-motor-controller.md). All builder methods return `SmartMotorControllerConfig&` for chaining. **Java equivalent:** [Java SmartMotorControllerConfig](/api-reference/java-reference/motor-controllers/smart-motor-controller-config.md) *** ## Enums ### `ControlMode` | Value | Description | | ------------- | ----------------------------------- | | `CLOSED_LOOP` | Closed-loop PID/LQR control | | `OPEN_LOOP` | Direct duty cycle or voltage output | ### `MotorMode` | Value | Description | | ------- | --------------------------------------- | | `COAST` | Motor freewheels when not commanded | | `BRAKE` | Motor resists motion when not commanded | ### `TelemetryVerbosity` | Value | Description | | -------- | ------------------------ | | `NONE` | No telemetry | | `LOW` | Position and velocity | | `MEDIUM` | Adds current and voltage | | `HIGH` | Full state | ### `ClosedLoopControllerSlot` | Value | Description | | ------------------------- | ------------------------------------------------------------------------- | | `SLOT_0` through `SLOT_3` | PID/FF gain sets; motors support up to 4 simultaneous gain configurations | *** ## PID & Feedforward Methods | Method | Description | | -------------------------------------------------------------------------------------------------------------- | ------------------------------------------------ | | `WithFeedback(double kP, double kI, double kD, ClosedLoopControllerSlot slot = SLOT_0)` | Set position PID gains | | `WithFeedforward(const frc::ArmFeedforward& ff, ClosedLoopControllerSlot slot = SLOT_0)` | Arm feedforward (gravity as a function of angle) | | `WithFeedforward(const frc::ElevatorFeedforward& ff, ClosedLoopControllerSlot slot = SLOT_0)` | Elevator feedforward (constant gravity load) | | `WithFeedforward(const frc::SimpleMotorFeedforward& ff, ClosedLoopControllerSlot slot = SLOT_0)` | Simple motor feedforward | | `WithLQR(const math::LQRConfig& lqrConfig, ClosedLoopControllerSlot slot)` | LQR controller in place of PID | *** ## Motion Profile Methods | Method | Description | | ------------------------------------------------------------------------------------------------------------------------------------------ | ------------------------------------------------------ | | `WithTrapezoidProfile(units::turns_per_second_t maxVelocity, units::turns_per_second_squared_t maxAcceleration)` | Trapezoidal profile for angular mechanisms | | `WithLinearTrapezoidProfile(units::meters_per_second_t maxVelocity, units::meters_per_second_squared_t maxAcceleration)` | Trapezoidal profile for linear mechanisms | | `WithVelocityTrapezoidalProfile(units::turns_per_second_t maxVelocity, units::turns_per_second_squared_t maxAcceleration)` | Trapezoidal profile for velocity control | | `WithExponentialProfile(double kV, double kA, units::volt_t maxInput)` | Exponential profile from system ID gains | | `WithExponentialProfile(units::volt_t maxVolts, frc::DCMotor motor, units::kilogram_square_meter_t moi)` | Exponential profile from motor model (flywheel or arm) | | `WithExponentialProfile(units::volt_t maxVolts, frc::DCMotor motor, units::kilogram_t mass, units::meter_t drumRadius)` | Exponential profile from motor model (elevator) | | `WithExponentialProfile(units::volt_t maxVolts, units::turns_per_second_t maxVelocity, units::turns_per_second_squared_t maxAcceleration)` | Exponential profile from measured physical limits | *** ## Gearing & Measurement Methods | Method | Description | | ----------------------------------------------------------------- | --------------------------------------------- | | `WithMotorGearing(const gearing::MechanismGearing& gearing)` | Motor-to-mechanism gear ratio | | `WithMechanismCircumference(units::meter_t circumference)` | Convert rotations to linear distance | | `WithMechanismCircumference(units::meter_t gearPitch, int teeth)` | Circumference from gear pitch and tooth count | | `WithMechanismDiameter(units::meter_t diameter)` | Circumference = π × diameter | | `WithMechanismRadius(units::meter_t radius)` | Circumference = 2π × radius | *** ## Limits & Safety Methods | Method | Description | | ------------------------------------------------------------------- | ------------------------------------ | | `WithMechanismLimits(units::turn_t lower, units::turn_t upper)` | Angular soft limits | | `WithMeasurementLimits(units::meter_t lower, units::meter_t upper)` | Linear soft limits | | `WithStatorCurrentLimit(units::ampere_t limit)` | Cap motor output current | | `WithSupplyCurrentLimit(units::ampere_t limit)` | Cap battery draw current | | `WithTemperatureCutoff(units::celsius_t temperature)` | Disable motor above this temperature | | `WithClosedLoopMaxVoltage(units::volt_t maxVoltage)` | Cap closed-loop voltage output | *** ## Control Behavior Methods | Method | Description | | -------------------------------------------------------------- | ----------------------------------------------- | | `WithIdleMode(MotorMode mode)` | Coast or Brake | | `WithClosedLoopMode()` | Select closed-loop control | | `WithOpenLoopMode()` | Select open-loop control | | `WithClosedLoopControlPeriod(units::second_t period)` | Loop period for software PID | | `WithOpenLoopRampRate(units::second_t rampRate)` | Output ramp time for open-loop | | `WithClosedLoopRampRate(units::second_t rampRate)` | Output ramp time for closed-loop | | `WithMotorInverted(bool inverted)` | Invert motor direction | | `WithEncoderInverted(bool inverted)` | Invert encoder direction | | `WithContinuousWrapping(units::turn_t min, units::turn_t max)` | Enable continuous input for wrapping mechanisms | *** ## External Encoder Methods | Method | Description | | ------------------------------------------------------------------------- | ---------------------------------------------- | | `WithExternalEncoder(std::any encoder)` | Attach an absolute encoder | | `WithUseExternalFeedbackEncoder(bool use)` | Use external encoder as primary feedback | | `WithExternalEncoderInverted(bool inverted)` | Invert external encoder reading | | `WithExternalEncoderConversionFactor(double factor)` | Scale external encoder reading | | `WithExternalEncoderZeroOffset(units::turn_t zeroOffset)` | Software zero offset for external encoder | | `WithExternalEncoderGearing(const gearing::MechanismGearing& gearing)` | Gearing between external encoder and mechanism | | `WithExternalEncoderDiscontinuityPoint(units::turn_t discontinuityPoint)` | Required for SPARK absolute encoders | *** ## Simulation Methods | Method | Description | | -------------------------------------------------------------------------------------------------------- | ------------------------------------------ | | `WithSimMotor(frc::DCMotor motor)` | Set the simulation motor model | | `WithMOI(units::kilogram_square_meter_t moi)` | Moment of inertia for simulation | | `WithMOI(units::meter_t length, units::kilogram_t mass)` | MOI derived from arm dimensions | | `WithStartingPosition(units::degree_t startingAngle)` | Seed position for angular mechanisms | | `WithStartingPosition(units::meter_t startingDistance)` | Seed position for linear mechanisms | | `WithSimClosedLoopController(double kP, double kI, double kD, ClosedLoopControllerSlot slot)` | Separate PID gains used only in simulation | | `WithSimFeedforward(const frc::ArmFeedforward& ff, ClosedLoopControllerSlot slot)` | Sim-only arm feedforward | | `WithSimFeedforward(const frc::ElevatorFeedforward& ff, ClosedLoopControllerSlot slot)` | Sim-only elevator feedforward | | `WithSimFeedforward(const frc::SimpleMotorFeedforward& ff, ClosedLoopControllerSlot slot)` | Sim-only simple motor feedforward | *** ## Other Methods | Method | Description | | --------------------------------------------------------------------------- | --------------------------------------------- | | `WithTelemetry(const std::string& name, TelemetryVerbosity verbosity)` | Configure NetworkTables telemetry | | `WithSubsystem(frc2::SubsystemBase* subsystem)` | Associate with a WPILib subsystem | | `WithFollowers(std::vector> followers)` | Add vendor follower motors | | `WithLooselyCoupledFollowers(std::vector followers)` | Add YAMS-managed follower motors | | `WithVendorConfig(std::any cfg)` | Pass a vendor-specific config object directly | | `Clone() const` | Returns a deep copy of this config | *** ## Example ```cpp motorcontrollers::SmartMotorControllerConfig config; config.WithMotorInverted(false) .WithMotorGearing(gearing::MechanismGearing{ gearing::GearBox::FromTeeth({14, 72})}) .WithFeedback(0.5, 0.0, 0.0) .WithFeedforward(frc::ArmFeedforward{0.1_V, 0.0_V, units::unit_t{0.5}, units::unit_t{0.01}}, ClosedLoopControllerSlot::SLOT_0) .WithMechanismLimits(-90_deg, 90_deg) .WithIdleMode(MotorMode::BRAKE) .WithTelemetry("ArmMotor", TelemetryVerbosity::HIGH); ``` *** ## See Also * [SmartMotorController](/api-reference/c++-reference/motor-controllers/smart-motor-controller.md) * [Java SmartMotorControllerConfig](/api-reference/java-reference/motor-controllers/smart-motor-controller-config.md)