> 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/mechanisms/pivot.md).

# Pivot

**Package:** `yams.mechanisms.positional`\
**Extends:** `SmartPositionalMechanism`

Controls rotation around a vertical axis, suitable for shooter hoods, turrets, or any mechanism rotating in the XY plane. For a gravity-affected arm rotating in the XZ plane, use [Arm](/api-reference/java-reference/mechanisms/arm.md) instead.

## Constructor

```java
Pivot(PivotConfig config, SmartMotorController smc)
```

| Name     | Type                   | Description                                         |
| -------- | ---------------------- | --------------------------------------------------- |
| `config` | `PivotConfig`          | Pivot geometry, limits, and control parameters      |
| `smc`    | `SmartMotorController` | Configured motor controller driving the pivot joint |

See [PivotConfig](/api-reference/java-reference/config/pivot-config.md) and [SmartMotorControllerConfig](/api-reference/java-reference/motor-controllers/smart-motor-controller-config.md).

## State Queries

| Method       | Returns | Description                              |
| ------------ | ------- | ---------------------------------------- |
| `getAngle()` | `Angle` | Current mechanism angle from the encoder |

## Command Factories

Commands returned are compatible with the WPILib command scheduler. Commands that run indefinitely must be interrupted or composed with a terminating condition.

| Method                                 | Returns   | Description                                                            |
| -------------------------------------- | --------- | ---------------------------------------------------------------------- |
| `setAngle(Angle target)`               | `Command` | Holds `target` angle using closed-loop control; runs indefinitely      |
| `runTo(Angle target, Angle tolerance)` | `Command` | Drives to `target` and ends when within `tolerance`                    |
| `set(double dutycycle)`                | `Command` | Open-loop: applies the given duty cycle; runs indefinitely             |
| `set(Supplier<Double> dutycycle)`      | `Command` | Open-loop duty cycle from a supplier; re-evaluates each loop iteration |
| `setVoltage(Voltage volts)`            | `Command` | Open-loop: applies a fixed voltage; runs indefinitely                  |
| `setVoltage(Supplier<Voltage> volts)`  | `Command` | Open-loop voltage from a supplier; re-evaluates each loop iteration    |

### `setAngle`

```java
public Command setAngle(Angle target)
```

| Name     | Type    | Description                 |
| -------- | ------- | --------------------------- |
| `target` | `Angle` | Desired pivot angle to hold |

Returns `Command`.

### `runTo`

```java
public Command runTo(Angle target, Angle tolerance)
```

| Name        | Type    | Description                                        |
| ----------- | ------- | -------------------------------------------------- |
| `target`    | `Angle` | Desired pivot angle                                |
| `tolerance` | `Angle` | Acceptable angular error for the command to finish |

Returns `Command`.

### `set(double)`

```java
public Command set(double dutycycle)
```

| Name        | Type     | Description                   |
| ----------- | -------- | ----------------------------- |
| `dutycycle` | `double` | Motor duty cycle in `[-1, 1]` |

Returns `Command`.

### `set(Supplier<Double>)`

```java
public Command set(Supplier<Double> dutycycle)
```

| Name        | Type               | Description                                  |
| ----------- | ------------------ | -------------------------------------------- |
| `dutycycle` | `Supplier<Double>` | Supplier returning duty cycle each iteration |

Returns `Command`.

### `setVoltage(Voltage)`

```java
public Command setVoltage(Voltage volts)
```

| Name    | Type      | Description          |
| ------- | --------- | -------------------- |
| `volts` | `Voltage` | Fixed voltage output |

Returns `Command`.

### `setVoltage(Supplier<Voltage>)`

```java
public Command setVoltage(Supplier<Voltage> volts)
```

| Name    | Type                | Description                               |
| ------- | ------------------- | ----------------------------------------- |
| `volts` | `Supplier<Voltage>` | Supplier returning voltage each iteration |

Returns `Command`.

## Triggers

Triggers integrate with the WPILib `Trigger` / `CommandScheduler` binding API.

| Method                                 | Returns   | Description                                                       |
| -------------------------------------- | --------- | ----------------------------------------------------------------- |
| `isNear(Angle angle, Angle tolerance)` | `Trigger` | Active when current angle is within `tolerance` of `angle`        |
| `gte(Angle angle)`                     | `Trigger` | Active when current angle ≥ `angle`                               |
| `lte(Angle angle)`                     | `Trigger` | Active when current angle ≤ `angle`                               |
| `between(Angle start, Angle end)`      | `Trigger` | Active when current angle is in `[start, end]`                    |
| `max()`                                | `Trigger` | Active when the pivot has reached its configured upper hard limit |
| `min()`                                | `Trigger` | Active when the pivot has reached its configured lower hard limit |

### `isNear`

```java
public Trigger isNear(Angle angle, Angle tolerance)
```

| Name        | Type    | Description                  |
| ----------- | ------- | ---------------------------- |
| `angle`     | `Angle` | Reference angle              |
| `tolerance` | `Angle` | Acceptable angular deviation |

Returns `Trigger`.

### `gte`

```java
public Trigger gte(Angle angle)
```

| Name    | Type    | Description       |
| ------- | ------- | ----------------- |
| `angle` | `Angle` | Lower bound angle |

Returns `Trigger`.

### `lte`

```java
public Trigger lte(Angle angle)
```

| Name    | Type    | Description       |
| ------- | ------- | ----------------- |
| `angle` | `Angle` | Upper bound angle |

Returns `Trigger`.

### `between`

```java
public Trigger between(Angle start, Angle end)
```

| Name    | Type    | Description              |
| ------- | ------- | ------------------------ |
| `start` | `Angle` | Lower bound of the range |
| `end`   | `Angle` | Upper bound of the range |

Returns `Trigger`.

### `max`

```java
public Trigger max()
```

No parameters. Returns `Trigger` that is active when the pivot is at its upper hard limit as configured in `PivotConfig`.

### `min`

```java
public Trigger min()
```

No parameters. Returns `Trigger` that is active when the pivot is at its lower hard limit as configured in `PivotConfig`.

## Visualization & Simulation

| Method                   | Returns                | Description                                                           |
| ------------------------ | ---------------------- | --------------------------------------------------------------------- |
| `getMechanismLigament()` | `MechanismLigament2d`  | The ligament used in the Mechanism2d visualization                    |
| `getMechanismRoot()`     | `MechanismRoot2d`      | The root of the Mechanism2d visualization                             |
| `getMotor()`             | `SmartMotorController` | The underlying motor controller                                       |
| `simIterate()`           | `void`                 | Advances the pivot physics simulation by one loop iteration           |
| `updateTelemetry()`      | `void`                 | Publishes current state to NetworkTables                              |
| `visualizationUpdate()`  | `void`                 | Syncs the Mechanism2d ligament angle with the current encoder reading |

Call `simIterate()` from your `simulationPeriodic()` method. Call `updateTelemetry()` and `visualizationUpdate()` from `periodic()`.

## See Also

* [PivotConfig](/api-reference/java-reference/config/pivot-config.md)
* [SmartMotorControllerConfig](/api-reference/java-reference/motor-controllers/smart-motor-controller-config.md)
* [C++ Pivot](/api-reference/c++-reference/mechanisms/pivot.md)

## Examples

The `simple_robot` example includes a Turret subsystem implemented with `Pivot`:

{% @github-files/github-code-block url="<https://github.com/Yet-Another-Software-Suite/YAMS/blob/master/examples/simple_robot/src/main/java/frc/robot/subsystems/TurretSubsystem.java>" %}