> 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-telemetry-config.md).

# SmartMotorControllerTelemetryConfig

**Namespace:** `yams::telemetry`\
**Header:** `yams/telemetry/SmartMotorControllerTelemetryConfig.hpp`

Fine-grained telemetry configuration for a `SmartMotorController`. Every field is **disabled by default**. Opt-in using `WithTelemetryVerbosity()` for a preset bundle, individual `With*()` methods for specific fields, or both to supplement a preset.

For most use-cases, passing a name and verbosity to `SmartMotorControllerConfig::WithTelemetry(string, TelemetryVerbosity)` is sufficient. Use this class only when you need to override which specific fields are published or to route telemetry to DataLog instead of NetworkTables.

## Type Alias

```cpp
using TelemetryVerbosity =
    yams::motorcontrollers::SmartMotorControllerConfig::TelemetryVerbosity;
```

## Constructor

```cpp
SmartMotorControllerTelemetryConfig()
```

## Verbosity Presets

`WithTelemetryVerbosity(TelemetryVerbosity)` enables a cumulative set of fields. Each higher level includes everything from the levels below it.

| Level  | Fields enabled                                                                                                                                                                                         |
| ------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| `LOW`  | Setpoint position/velocity, measurement position/velocity/acceleration, mechanism position/velocity/acceleration, rotor position/velocity, external encoder position/velocity, active closed-loop slot |
| `MID`  | Everything in LOW, plus: output voltage, stator current, supply current                                                                                                                                |
| `HIGH` | Everything in MID, plus: all boolean status flags, tunable setpoints, PID gains (kP/kI/kD), feedforward gains (kS/kV/kG/kA), current limits, ramp rates, limit values, motor temperature               |

## Builder Methods: Output Channels

All methods return `SmartMotorControllerTelemetryConfig&` for chaining.

| Method                                                 | Description                                                               |
| ------------------------------------------------------ | ------------------------------------------------------------------------- |
| `WithDataLogName(const std::string& dataLogName)`      | Enables DataLog recording; writes all enabled fields to this prefix path. |
| `WithNetworkTables(bool enabled)`                      | Enables or disables NT4 publishing. Default: `true`.                      |
| `WithoutNetworkTables()`                               | Disables NT4 publishing. Useful during competition matches.               |
| `WithTelemetryVerbosity(TelemetryVerbosity verbosity)` | Enables a preset bundle (`LOW`, `MID`, or `HIGH`).                        |

## Builder Methods: Boolean Fields

Each method enables a single boolean status flag. Flags are automatically suppressed if the motor controller or configuration does not support them.

| Method                      | What it logs                                                   |
| --------------------------- | -------------------------------------------------------------- |
| `WithMechanismLowerLimit()` | Whether the mechanism is at or past its lower soft limit.      |
| `WithMechanismUpperLimit()` | Whether the mechanism is at or past its upper soft limit.      |
| `WithTemperatureLimit()`    | Whether the motor is in an over-temperature condition.         |
| `WithVelocityControl()`     | Whether velocity closed-loop mode is currently active.         |
| `WithElevatorFeedforward()` | Whether an elevator feedforward is in use.                     |
| `WithArmFeedforward()`      | Whether an arm feedforward is in use.                          |
| `WithSimpleFeedforward()`   | Whether a simple motor feedforward is in use.                  |
| `WithMotionProfile()`       | Whether a trapezoidal or exponential motion profile is active. |

## Builder Methods: Numeric Fields

| Method                      | What it logs                                                                            |
| --------------------------- | --------------------------------------------------------------------------------------- |
| `WithSetpointPosition()`    | Current position setpoint in mechanism units.                                           |
| `WithSetpointVelocity()`    | Current velocity setpoint in mechanism units.                                           |
| `WithOutputVoltage()`       | Motor output voltage (V).                                                               |
| `WithStatorCurrent()`       | Stator (output) current (A).                                                            |
| `WithTemperature()`         | Motor winding temperature (°C).                                                         |
| `WithMeasurementPosition()` | Linear position via mechanism circumference (m). Requires `WithMechanismCircumference`. |
| `WithMeasurementVelocity()` | Linear velocity in m/s. Requires `WithMechanismCircumference`.                          |
| `WithMechanismPosition()`   | Mechanism angular position (degrees).                                                   |
| `WithMechanismVelocity()`   | Mechanism angular velocity (degrees/s).                                                 |
| `WithRotorPosition()`       | Raw rotor position (rotations).                                                         |
| `WithRotorVelocity()`       | Raw rotor velocity (rotations/s).                                                       |

## Example

```cpp
#include <yams/telemetry/SmartMotorControllerTelemetryConfig.hpp>
#include <yams/motorcontrollers/SmartMotorControllerConfig.hpp>

using Cfg    = yams::motorcontrollers::SmartMotorControllerConfig;
using TelCfg = yams::telemetry::SmartMotorControllerTelemetryConfig;

// Preset-based configuration applied via SmartMotorControllerConfig (simplest approach)
Cfg motorConfig;
motorConfig.WithTelemetry("ShoulderMotor", Cfg::TelemetryVerbosity::HIGH);

// Fine-grained override applied after constructing the motor controller
smc.WithTelemetry(
    TelCfg{}
        .WithTelemetryVerbosity(Cfg::TelemetryVerbosity::MEDIUM)
        .WithMechanismPosition()
        .WithMechanismVelocity()
        .WithTemperature()
        .WithArmFeedforward()
        .WithDataLogName("/Robot/Arm/Motor")
        .WithoutNetworkTables());   // log-only during matches
```

{% hint style="info" %}
Fields that are not applicable to the current motor controller or configuration are silently suppressed at runtime.
{% endhint %}

{% hint style="info" %}
`WithTelemetryVerbosity()` is cumulative: combining it with individual `With*()` methods produces the union of all requested fields.
{% endhint %}

{% hint style="warning" %}
The Java port additionally exposes a `withCustom(...)` escape hatch for enabling/disabling arbitrary `BooleanTelemetryField`/`DoubleTelemetryField` values (including arrays of fields at once). This is not yet ported to C++; see [SmartMotorControllerTelemetryConfig (Java)](/api-reference/java-reference/motor-controllers/smart-motor-controller-telemetry-config.md#builder-methods-custom-escape-hatch).
{% endhint %}

## Related Pages

* [SmartMotorController (C++)](/api-reference/c++-reference/motor-controllers/smart-motor-controller.md)
* [SmartMotorControllerConfig (C++)](/api-reference/c++-reference/motor-controllers/smart-motor-controller-config.md)
* [SmartMotorControllerTelemetryConfig (Java)](/api-reference/java-reference/motor-controllers/smart-motor-controller-telemetry-config.md)