> 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/config/elevator-config.md).

# ElevatorConfig

**Package:** `yams.mechanisms.config`

`ElevatorConfig` configures a linear elevator mechanism. All builder methods return the `ElevatorConfig` instance for chaining.

See also: [Elevator](/api-reference/java-reference/mechanisms/elevator.md)

***

## Constructor

```java
ElevatorConfig()
ElevatorConfig clone()  // Deep copy
```

***

## Builder Methods

| Method                                                        | Parameters                                                | Description                                                                                |
| ------------------------------------------------------------- | --------------------------------------------------------- | ------------------------------------------------------------------------------------------ |
| `withCarriageWeight(Mass mass)`                               | `mass`: carriage mass                                     | **Required for simulation.** Used by `ElevatorSim` to model gravity.                       |
| `withHardLimits(Distance min, Distance max)`                  | `min`: bottom limit, `max`: top limit                     | Sets the physical height range. The motor will not command positions outside these bounds. |
| `withAngle(Angle angle)`                                      | `angle`: angle from horizontal                            | Elevator mounting angle. Defaults to 90° (vertical). Optional.                             |
| `withHorizontalElevator()`                                    | *(none)*                                                  | Disables gravity simulation. Useful for horizontal linear sliders. Optional.               |
| `withTelemetry(String name, TelemetryVerbosity verbosity)`    | `name`: NT key prefix, `verbosity`: `LOW`/`MEDIUM`/`HIGH` | Enables NetworkTables telemetry for this mechanism. Optional.                              |
| `withSimColor(Color8Bit color)`                               | `color`: RGB color                                        | Sets the Mechanism2d visualization color. Optional.                                        |
| `withMechanismPositionConfig(MechanismPositionConfig config)` | `config`: position config                                 | Configures the visualization plane and 3D offset for this mechanism. Optional.             |

> **Note:** Drum radius (spool size) is configured on `SmartMotorControllerConfig` via `.withDrumRadius(Distance chainPitch, int teeth)` or `.withMechanismCircumference(Distance)`. Cascading elevator stages are configured via `SmartMotorControllerConfig.withCascadingElevatorStages(int stages)`.

***

## Getters

All getters return `Optional<>` for configured values, following the same pattern as [ArmConfig](/api-reference/java-reference/config/arm-config.md) getters. `getSimColor()` and `getMechanismPositionConfig()` always return a value.

***

## Example

```java
ElevatorConfig config = new ElevatorConfig()
    .withCarriageWeight(Kilograms.of(4.5))
    .withHardLimits(Meters.of(0.0), Meters.of(1.2))
    .withTelemetry("Elevator", TelemetryVerbosity.HIGH);
```

{% @github-files/github-code-block url="<https://github.com/Yet-Another-Software-Suite/YAMS/blob/master/examples/simple_elevator/java/frc/robot/subsystems/ElevatorSubsystem.java#L113-L126>" %}