> 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/pivot-config.md).

# PivotConfig

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

`PivotConfig` configures a rotational mechanism in the XY plane (e.g., a turret or shooter hood). For mechanisms rotating in the XZ plane, use [ArmConfig](/api-reference/java-reference/config/arm-config.md) instead.

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

See also: [Pivot](/api-reference/java-reference/mechanisms/pivot.md)

***

## Constructor

```java
PivotConfig()
PivotConfig(PivotConfig cfg)  // Copy constructor
PivotConfig clone()           // Deep copy
```

***

## Builder Methods

> **All methods are optional.** Unlike `ArmConfig`, `PivotConfig` has no simulation-required parameters: a pivot does not use arm length in its physics model.

| Method                                                        | Parameters                                                | Description                                                                                                        |
| ------------------------------------------------------------- | --------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------ |
| `withHardLimits(Angle min, Angle max)`                        | `min`: lower bound, `max`: upper bound                    | Sets the physical rotation limits. The motor controller will not command positions outside these angles. 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. Defaults to orange if not set. Optional.                                 |
| `withMechanismPositionConfig(MechanismPositionConfig config)` | `config`: position config                                 | Configures the visualization plane and 3D offset for this mechanism. Defaults to the XY plane. Optional.           |

***

## Getters

| Method                         | Returns                        | Description                                                                     |
| ------------------------------ | ------------------------------ | ------------------------------------------------------------------------------- |
| `getTelemetryName()`           | `Optional<String>`             | The configured NT prefix, or empty if telemetry is not set.                     |
| `getTelemetryVerbosity()`      | `Optional<TelemetryVerbosity>` | The configured verbosity, or empty.                                             |
| `getLowerHardLimit()`          | `Optional<Angle>`              | Lower hard limit angle, or empty if not set.                                    |
| `getUpperHardLimit()`          | `Optional<Angle>`              | Upper hard limit angle, or empty if not set.                                    |
| `getSimColor()`                | `Color8Bit`                    | The visualization color. Always returns a value; defaults to orange.            |
| `getMechanismPositionConfig()` | `MechanismPositionConfig`      | The position/plane configuration. Always returns a value; defaults to XY plane. |

***

## Example

```java
PivotConfig config = new PivotConfig()
    .withHardLimits(Degrees.of(-180), Degrees.of(180))
    .withTelemetry("Turret", TelemetryVerbosity.MEDIUM);
```