> 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/flywheel-config.md).

# FlyWheelConfig

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

`FlyWheelConfig` configures a velocity-controlled spinning mechanism.

All builder methods return the `FlyWheelConfig` instance for chaining.

See also: [FlyWheel](/api-reference/java-reference/mechanisms/flywheel.md)

{% hint style="info" %}
**Simulation Note:** Moment of inertia is not configured on `FlyWheelConfig`. Set it via `SmartMotorControllerConfig.withMomentOfInertia(Distance length, Mass mass)`.
{% endhint %}

***

## Constructor

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

***

## Builder Methods

| Method                                                        | Parameters                                                | Description                                                                                                    |
| ------------------------------------------------------------- | --------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------- |
| `withDiameter(Distance diameter)`                             | `diameter`: wheel/roller outer diameter                   | Wheel size used for angular-to-linear velocity conversion and simulation.                                      |
| `withSpeedometerSimulation(AngularVelocity maxVelocity)`      | `maxVelocity`: maximum simulated velocity                 | Enables a simulated speedometer gauge capped at `maxVelocity`.                                                 |
| `withSpeedometerSimulation()`                                 | *(none)*                                                  | Enables the speedometer with the previously configured max velocity. Throws if max velocity was not set first. |
| `disableSpeedometerSimulation()`                              | *(none)*                                                  | Disables the speedometer simulation.                                                                           |
| `withSimColor(Color8Bit color)`                               | `color`: RGB color                                        | Sets the Mechanism2d visualization color. Optional; defaults to orange.                                        |
| `withMechanismPositionConfig(MechanismPositionConfig config)` | `config`: position config                                 | Configures the visualization plane and 3D offset for this mechanism. Optional.                                 |
| `withTelemetry(String name, TelemetryVerbosity verbosity)`    | `name`: NT key prefix, `verbosity`: `LOW`/`MEDIUM`/`HIGH` | Enables NetworkTables telemetry for this mechanism. Optional.                                                  |

***

## Getters

All getters return `Optional<>` for configured values. `getSimColor()` and `getMechanismPositionConfig()` always return a value.

***

## Example

```java
FlyWheelConfig config = new FlyWheelConfig()
    .withDiameter(Inches.of(4))
    .withSpeedometerSimulation(RPM.of(6000))
    .withTelemetry("Shooter", TelemetryVerbosity.HIGH);
```

{% @github-files/github-code-block url="<https://github.com/Yet-Another-Software-Suite/YAMS/blob/master/examples/simple_shooter/java/frc/robot/subsystems/ShooterSubsystem.java#L150-L156>" %}