> 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/motor-controllers/smart-motor-controller.md). # SmartMotorController **Package:** `yams.motorcontrollers` Abstract base class for all motor controller wrappers. Do not instantiate directly; construct a concrete subclass (`SparkWrapper`, `TalonFXWrapper`, or `TalonFXSWrapper`) and assign it to a `SmartMotorController` variable. Configure all implementations via [SmartMotorControllerConfig](/api-reference/java-reference/motor-controllers/smart-motor-controller-config.md). ## Construction Instantiate the vendor-specific subclass directly: ```java SmartMotorControllerConfig config = new SmartMotorControllerConfig(this) .withMotorInverted(false) .withGearing(new MechanismGearing(GearBox.fromTeeth(14, 72))) .withClosedLoopController(0.5, 0.0, 0.0) .withFeedforward(new ArmFeedforward(0.1, 0.5, 0.01)) .withMechanismUpperLimit(Degrees.of(90)) .withMechanismLowerLimit(Degrees.of(-90)); // REV SPARK Max SmartMotorController motor = new SparkWrapper( new SparkMax(1, MotorType.kBrushless), DCMotor.getNEO(1), config ); // CTRE TalonFX SmartMotorController motor = new TalonFXWrapper( new TalonFX(1), DCMotor.getKrakenX60(1), config ); ``` ## Utility | Method | Returns | Description | | ------------------------------- | --------- | -------------------------------------------------------------------------------------------------- | | `isMotor(DCMotor a, DCMotor b)` | `boolean` | Compares two `DCMotor` instances by all physical parameters. Useful for runtime motor type checks. | ## Control | Method | Returns | Description | | --------------------------------------------------------------- | --------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | `setDutyCycle(double dutyCycle)` | `void` | Sets output duty cycle in `[-1, 1]`. | | `getDutyCycle()` | `double` | Returns current duty cycle output. | | `setVoltage(Voltage voltage)` | `void` | Sets output voltage directly. Useful for SysId. | | `getVoltage()` | `Voltage` | Returns current voltage output. | | `setPosition(Angle angle)` | `void` | Commands the mechanism to the given angular position using configured PID and feedforward. | | `setPosition(Distance distance)` | `void` | Commands the mechanism to the given linear position. Requires `withMechanismCircumference` to be set. | | `setVelocity(AngularVelocity velocity)` | `void` | Commands the mechanism to the given angular velocity. | | `setVelocity(LinearVelocity velocity)` | `void` | Commands the mechanism to the given linear velocity. | | `setVelocity(AngularVelocity velocity, Force feedforwardForce)` | `void` | Commands the mechanism to the given angular velocity, with an additional feedforward `Force` applied on top (e.g. from a PathPlanner set-point generator). Requires `withGearing`/`withMechanismCircumference` to be set. Pass `null` to fall back to plain velocity control. | | `setVelocity(LinearVelocity velocity, Force feedforwardForce)` | `void` | Linear-velocity counterpart of the above. | {% hint style="info" %} `Force` here means the drive-wheel feedforward force from a set-point generator such as PathPlanner's `DriveFeedforwards.linearForces()`, not a torque or a raw voltage. `SmartMotorControllerConfig.convertToVoltage(...)`/`convertToCurrent(...)` convert it into the correct motor-level feedforward using the configured gearing and mechanism circumference (wheel radius) — see [SmartMotorControllerConfig](/api-reference/java-reference/motor-controllers/smart-motor-controller-config.md#feedforward-conversion). A `null` force is treated identically to calling the no-force overload: no feedforward is applied, and `getSetpointFeedforwardForce()` reads back empty. {% endhint %} ## Measurement
MethodReturnsDescription
getMechanismPosition()AngleMechanism-space angle after gearing is applied.
getMechanismVelocity()AngularVelocityMechanism-space angular velocity after gearing.
getMechanismAcceleration()AngularAccelerationMechanism-space angular acceleration.
getMeasurementPosition()DistanceLinear position. Requires withMechanismCircumference.
getMeasurementVelocity()LinearVelocityLinear velocity. Requires withMechanismCircumference.
getMeasurementAcceleration()LinearAccelerationLinear acceleration. Requires withMechanismCircumference.
getRotorPosition()AngleRaw rotor-encoder position scaled to mechanism rotations.
getRotorVelocity()AngularVelocityRaw rotor-encoder angular velocity.
getExternalEncoderPosition()Optional<Angle>External encoder position if an encoder is attached.
getExternalEncoderVelocity()Optional<AngularVelocity>External encoder velocity if an encoder is attached.
getMechanismPositionSetpoint()Optional<Angle>Current position setpoint, if set.
getMechanismSetpointVelocity()Optional<AngularVelocity>Current velocity setpoint, if set.
getSetpointFeedforwardForce()Optional<Force>Feedforward force last supplied to setVelocity(velocity, Force). Empty if the no-force overload (or a null force) was used most recently.
## Electrical | Method | Returns | Description | | -------------------- | ------------------- | --------------------------------------------------------- | | `getStatorCurrent()` | `Current` | Motor output current (stator). | | `getSupplyCurrent()` | `Optional` | Battery-side current draw. Not available on all hardware. | | `getTemperature()` | `Temperature` | Motor controller temperature. | ## Encoder | Method | Returns | Description | | ---------------------------------------------- | ------- | ------------------------------------------------------------------------------------------------------ | | `setEncoderPosition(Angle angle)` | `void` | Seeds the relative encoder to the given mechanism angle. | | `setEncoderPosition(Distance distance)` | `void` | Seeds the relative encoder from a linear position. | | `setEncoderVelocity(AngularVelocity velocity)` | `void` | Override the reported angular velocity (simulation use). | | `setEncoderVelocity(LinearVelocity velocity)` | `void` | Override the reported linear velocity (simulation use). | | `seedRelativeEncoder()` | `void` | Seeds the relative encoder from the absolute/external encoder. | | `synchronizeRelativeEncoder()` | `void` | Checks whether the relative encoder has drifted beyond the configured threshold and re-seeds it if so. | ## Closed-Loop Controller | Method | Returns | Description | | -------------------------------------------------- | -------------------------- | ---------------------------------------------------------------------------------- | | `startClosedLoopController()` | `void` | Starts the background closed-loop control thread. | | `stopClosedLoopController()` | `void` | Stops the closed-loop control thread. | | `iterateClosedLoopController()` | `void` | Executes one closed-loop iteration. Called automatically by the background thread. | | `setClosedLoopSlot(ClosedLoopControllerSlot slot)` | `void` | Selects the active PID slot. | | `getClosedLoopControllerSlot()` | `ClosedLoopControllerSlot` | Returns the active PID slot. | ### ClosedLoopControllerSlot | Value | Description | | -------- | ------------ | | `SLOT_0` | Default slot | | `SLOT_1` | Second slot | | `SLOT_2` | Third slot | | `SLOT_3` | Fourth slot | ## Configuration | Method | Returns | Description | | --------------------------------------------------- | ---------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------- | | `applyConfig(SmartMotorControllerConfig config)` | `boolean` | Applies a new configuration to the controller. Returns `true` on success. | | `getConfig()` | `SmartMotorControllerConfig` | Returns the active configuration. | | `checkConfigSafety()` | `void` | Validates safety constraints. Throws `SmartMotorControllerConfigurationException` for unsafe configurations (e.g., NEO 550 without a stator current limit). | | `setIdleMode(MotorMode mode)` | `void` | Sets coast or brake mode at runtime. | | `setMotorInverted(boolean inverted)` | `void` | Sets motor output inversion at runtime. | | `setEncoderInverted(boolean inverted)` | `void` | Sets encoder phase inversion at runtime. | | `setStatorCurrentLimit(Current limit)` | `void` | Sets stator current limit at runtime. | | `setSupplyCurrentLimit(Current limit)` | `void` | Sets supply current limit at runtime. | | `setMechanismUpperLimit(Angle upper)` | `void` | Sets upper soft limit at runtime. | | `setMechanismLowerLimit(Angle lower)` | `void` | Sets lower soft limit at runtime. | | `setMechanismLimits(Angle lower, Angle upper)` | `void` | Sets both soft limits at runtime. | | `setMechanismLimitsEnabled(boolean enabled)` | `void` | Enables or disables soft limit enforcement. | | `setMechanismGearing(MechanismGearing gearing)` | `void` | Updates the gear ratio at runtime. | | `setMechanismCircumference(Distance circumference)` | `void` | Updates the mechanism circumference at runtime. | ## Telemetry | Method | Returns | Description | | ------------------------------------------------------------- | -------- | ------------------------------------------------------------------------------- | | `setupTelemetry()` | `void` | Registers this motor under the default `Mechanisms` and `Tuning` NetworkTables. | | `setupTelemetry(NetworkTable telemetry, NetworkTable tuning)` | `void` | Registers under the provided NetworkTables. | | `updateTelemetry()` | `void` | Publishes current state to NetworkTables. Call from `periodic()`. | | `getName()` | `String` | Returns the telemetry name, or `"SmartMotorController"` if none is set. | ## Simulation | Method | Returns | Description | | -------------------------------------- | ----------------------- | -------------------------------------------------------------------------------- | | `setupSimulation()` | `void` | Initialises the simulation model. Called once on construction. | | `simIterate()` | `void` | Advances the simulation by one loop iteration. Call from `simulationPeriodic()`. | | `getSimSupplier()` | `Optional` | Returns the attached simulation supplier. | | `setSimSupplier(SimSupplier supplier)` | `void` | Attaches or replaces the simulation supplier. | `simIterate()` also reports this controller's simulated current draw into [`BatterySim`](/api-reference/java-reference/sensor/battery-sim.md) under a UUID unique to this instance (`m_batterySimUUID`), which combines the draw of every simulated `SmartMotorController` on the robot into one shared, loaded battery voltage. ## Introspection | Method | Returns | Description | | ---------------------------- | --------- | ------------------------------------------------------------------- | | `getMotorController()` | `Object` | Returns the underlying vendor motor controller object. | | `getMotorControllerConfig()` | `Object` | Returns the vendor-specific configuration object generated by YAMS. | | `getDCMotor()` | `DCMotor` | Returns the `DCMotor` model. | ## Examples {% @github-files/github-code-block url="" %} ## See Also * [SmartMotorControllerConfig](/api-reference/java-reference/motor-controllers/smart-motor-controller-config.md) * [SparkWrapper](/api-reference/java-reference/motor-controllers/spark-wrapper.md) * [TalonFXWrapper](/api-reference/java-reference/motor-controllers/talonfx-wrapper.md) * [BatterySim](/api-reference/java-reference/sensor/battery-sim.md) * [C++ SmartMotorController](/api-reference/c++-reference/motor-controllers/smart-motor-controller.md)