> 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/java-reference.md).

# Java Reference

- [Overview](https://yams.yassrobotics.com/api-reference/java-reference/java.md)
- [Mechanisms](https://yams.yassrobotics.com/api-reference/java-reference/mechanisms.md)
- [Arm](https://yams.yassrobotics.com/api-reference/java-reference/mechanisms/arm.md)
- [Elevator](https://yams.yassrobotics.com/api-reference/java-reference/mechanisms/elevator.md)
- [Pivot](https://yams.yassrobotics.com/api-reference/java-reference/mechanisms/pivot.md)
- [FlyWheel](https://yams.yassrobotics.com/api-reference/java-reference/mechanisms/flywheel.md)
- [DoubleJointedArm](https://yams.yassrobotics.com/api-reference/java-reference/mechanisms/double-jointed-arm.md)
- [DifferentialMechanism](https://yams.yassrobotics.com/api-reference/java-reference/mechanisms/differential-mechanism.md)
- [Configuration](https://yams.yassrobotics.com/api-reference/java-reference/config.md)
- [ArmConfig](https://yams.yassrobotics.com/api-reference/java-reference/config/arm-config.md)
- [ElevatorConfig](https://yams.yassrobotics.com/api-reference/java-reference/config/elevator-config.md)
- [PivotConfig](https://yams.yassrobotics.com/api-reference/java-reference/config/pivot-config.md)
- [FlyWheelConfig](https://yams.yassrobotics.com/api-reference/java-reference/config/flywheel-config.md)
- [DifferentialMechanismConfig](https://yams.yassrobotics.com/api-reference/java-reference/config/differential-mechanism-config.md)
- [MechanismPositionConfig](https://yams.yassrobotics.com/api-reference/java-reference/config/mechanism-position-config.md)
- [SensorConfig](https://yams.yassrobotics.com/api-reference/java-reference/config/sensor-config.md)
- [Motor Controllers](https://yams.yassrobotics.com/api-reference/java-reference/motor-controllers.md)
- [SmartMotorController](https://yams.yassrobotics.com/api-reference/java-reference/motor-controllers/smart-motor-controller.md)
- [SmartMotorControllerConfig](https://yams.yassrobotics.com/api-reference/java-reference/motor-controllers/smart-motor-controller-config.md)
- [SmartMotorControllerTelemetryConfig](https://yams.yassrobotics.com/api-reference/java-reference/motor-controllers/smart-motor-controller-telemetry-config.md)
- [SparkWrapper](https://yams.yassrobotics.com/api-reference/java-reference/motor-controllers/spark-wrapper.md)
- [NovaWrapper](https://yams.yassrobotics.com/api-reference/java-reference/motor-controllers/nova-wrapper.md)
- [Talon Wrapper](https://yams.yassrobotics.com/api-reference/java-reference/motor-controllers/talonfx-wrapper.md)
- [Swerve Drive](https://yams.yassrobotics.com/api-reference/java-reference/swerve.md)
- [SwerveDrive](https://yams.yassrobotics.com/api-reference/java-reference/swerve/swerve-drive.md)
- [SwerveModule](https://yams.yassrobotics.com/api-reference/java-reference/swerve/swerve-module.md)
- [SwerveDriveConfig](https://yams.yassrobotics.com/api-reference/java-reference/swerve/swerve-drive-config.md)
- [SwerveModuleConfig](https://yams.yassrobotics.com/api-reference/java-reference/swerve/swerve-module-config.md)
- [SwerveInputStream](https://yams.yassrobotics.com/api-reference/java-reference/swerve/swerve-input-stream.md)
- [Gearing](https://yams.yassrobotics.com/api-reference/java-reference/gearing.md)
- [GearBox](https://yams.yassrobotics.com/api-reference/java-reference/gearing/gearbox.md)
- [Sprocket](https://yams.yassrobotics.com/api-reference/java-reference/gearing/sprocket.md)
- [MechanismGearing](https://yams.yassrobotics.com/api-reference/java-reference/gearing/mechanism-gearing.md)
- [Math & Control](https://yams.yassrobotics.com/api-reference/java-reference/math.md)
- [SmartMath](https://yams.yassrobotics.com/api-reference/java-reference/math/smart-math.md)
- [ExponentialProfilePIDController](https://yams.yassrobotics.com/api-reference/java-reference/math/exponential-profile-pid-controller.md)
- [LQRConfig](https://yams.yassrobotics.com/api-reference/java-reference/math/lqr-config.md)
- [LQRController](https://yams.yassrobotics.com/api-reference/java-reference/math/lqr-controller.md)
- [DerivativeTimeFilter](https://yams.yassrobotics.com/api-reference/java-reference/math/derivative-time-filter.md)
- [Units & Utilities](https://yams.yassrobotics.com/api-reference/java-reference/units.md)
- [YUnits](https://yams.yassrobotics.com/api-reference/java-reference/units/yunits.md)
- [EasyCRT](https://yams.yassrobotics.com/api-reference/java-reference/units/easy-crt.md)
- [Simulation](https://yams.yassrobotics.com/api-reference/java-reference/sensor.md)
- [BatterySim](https://yams.yassrobotics.com/api-reference/java-reference/sensor/battery-sim.md)
- [Exceptions](https://yams.yassrobotics.com/api-reference/java-reference/exceptions.md)