Overview

The YAMS Java API is organized into six top-level areas: mechanisms (yams.mechanisms), mechanism configuration (yams.mechanisms.config), motor controllers (yams.motorcontrollers), swerve drive (yams.swerve), math and control (yams.math), and units/utilities (yams.units). Each mechanism class accepts a corresponding config object built with a fluent builder pattern, and all mechanisms publish telemetry to NetworkTables automatically.

Top-level packages

• yams.mechanisms: Arm, Elevator, Pivot, FlyWheel, DoubleJointedArm, DifferentialMechanism

• yams.mechanisms.config: ArmConfig, ElevatorConfig, PivotConfig, FlyWheelConfig, DifferentialMechanismConfig

• yams.motorcontrollers: SmartMotorController, SmartMotorControllerConfig, SparkWrapper, TalonFXWrapper

• yams.swerve: SwerveDrive, SwerveModule, SwerveDriveConfig, SwerveModuleConfig, SwerveInputStream

• yams.gearing: GearBox, Sprocket, MechanismGearing

• yams.math: SmartMath, ExponentialProfilePIDController, LQRConfig, LQRController, DerivativeTimeFilter

• yams.units: YUnits, EasyCRT