YAMS - Yet Another Mechanism System

✨ A flexible, extensible FRC mechanism library built for elevators, arms, turrets, and more — with simulation and telemetry included.

YAMS is a WPILib-compatible library that provides a unified and extensible interface for common FRC mechanisms like elevators, arms, and pivots (e.g., turrets). It emphasizes clean separation of control, simulation, and configuration, while offering first-class support for telemetry, feedforward, and tuning.

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🔧 Key Features

• 🧠 Unified interfaces for Arm, Elevator, and Pivot mechanisms
• ⚙️ CTRE-style configuration: familiar and readable
• 🛠️ SmartMotorController abstraction: consistent API for different motor vendors (REV, CTRE, etc.)
• 🧪 Physics-based simulation support (simIterate())
• 📊 Built-in telemetry (works with AdvantageKit, NT, and custom logging)
• 🔁 Composable and declarative configuration style

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📦 Installation (WPILib Vendordep)

1. In VS Code with WPILib extension:
   • Open Command Palette (Ctrl+Shift+P / Cmd+Shift+P)
   • Select: WPILib: Manage Vendor Libraries
   • Choose Install new library (online or offline)
   • Select Online
   • Paste the URL to the YAMS vendordep JSON file, e.g.:
     https://yet-another-software-suite.github.io/YAMS/yams.json
   • Press Enter to install

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📂 Examples

The repository contains several example projects under the /examples folder demonstrating how to use YAMS for arms, elevators, pivots, and combined subsystems.

These example projects do not include YAMS as a dependency via Maven or vendordep directly. Instead, they use a modified build.gradle that links the YAMS source code located in the /yams folder relative to the example.

This is done by adding the following snippet to the sourceSets block in each example’s build.gradle:

sourceSets {
    main {
        java {
            srcDirs 'src/main/java'
            srcDirs '../../yams/'
        }
    }
}

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🚀 Quick Example

Here’s a simplified ArmSubsystem using a wrapped TalonFX:

public class ArmSubsystem extends SubsystemBase {
  private final TalonFXS armMotor = new TalonFXS(1);
  private final SmartMotorController motor = new TalonFXSWrapper(armMotor, DCMotor.getNEO(1),
      new SmartMotorControllerConfig(this)
          .withClosedLoopController(4, 0, 0, DegreesPerSecond.of(180), DegreesPerSecondPerSecond.of(90))
          .withSoftLimit(Degrees.of(-30), Degrees.of(100))
          .withGearing(gearing(gearbox(3, 4)))
          .withIdleMode(MotorMode.BRAKE)
          .withTelemetry("ArmMotor", TelemetryVerbosity.HIGH)
          .withStatorCurrentLimit(Amps.of(40))
          .withFeedforward(new ArmFeedforward(0, 0, 0, 0))
          .withControlMode(ControlMode.CLOSED_LOOP)
  );

  private final Arm arm = new Arm(new ArmConfig(motor)
      .withLength(Meters.of(0.135))
      .withHardLimit(Degrees.of(-100), Degrees.of(200))
      .withStartingPosition(Degrees.of(0))
      .withTelemetry("ArmExample", TelemetryVerbosity.HIGH)
  );

  @Override
  public void periodic() {
    arm.updateTelemetry();
  }

  @Override
  public void simulationPeriodic() {
    arm.simIterate();
  }

  public Command setAngle(Angle angle) {
    return arm.setAngle(angle);
  }
}

More detailed examples for Elevator and Pivot mechanisms can be found in the /examples folder (or your team’s repo if it includes all three like above).

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🧪 Simulation

Just call simIterate() inside simulationPeriodic() to simulate the mechanism’s physical behavior — based on voltage inputs, mass, length, and more.

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📊 Telemetry

YAMS supports telemetry via its internal telemetry interfaces and SmartMotorControllerTelemetryConfig.

It integrates with:

• AdvantageKit
• Custom logging tools
• NetworkTables /Mechanisms and /Tuning

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📜 License

This project is licensed under the Lesser GNU General Public License v3.0. You are free to use, modify, and redistribute the software, provided that any derivative work is also licensed under LGPLv3.

See LICENSE for full details.

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🤝 Contributing

We welcome feedback and contributions! Open an issue for bug reports or feature requests, or fork and open a pull request to contribute.

Inspired by Manip-Lib.

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