Overview

YAMS (Yet Another Mechanism Suite) is a WPILib vendordep library for FRC robots. It provides a unified motor controller abstraction over REV, CTRE, and Thrifty hardware, pre-built mechanism classes for common robot subsystems, and advanced control algorithms, all with simulation support and automatic NetworkTables telemetry. Both Java and C++ are supported with parallel APIs.

This documentation tracks YAMS for WPILib 2027 (2027_alpha7), where robot code runs on the SystemCore. Java command bindings ship for both WPILib Commands v2 (yams.commands2) and Commands v3 (yams.commands3); C++ supports Commands v2. See Getting Started for installation.

Features

• Motor controller abstraction: a single SmartMotorController interface over SPARK MAX, SPARK FLEX, TalonFX, TalonFXS, and Thrifty Nova
• Mechanism classes: Arm, Elevator, Pivot, FlyWheel, DoubleJointedArm, DifferentialMechanism, and SwerveDrive (DoubleJointedArm and DifferentialMechanism are Java only)
• Advanced control: LQR, exponential motion profiles, trapezoidal profiles, and a derivative-time filter
• Extended units: YUnits constants and EasyCRT multi-encoder absolute position solver
• Simulation: built-in sim support for all mechanism classes via WPILib's simulation framework, with one shared BatterySim across every motor controller
• Commands v2 and v3: the same mechanisms with Command and Trigger factories for either WPILib command framework (Java)

Quick navigation

• Java API
• C++ API
• Guides

Supported hardware

Device	Vendor	Interface
SPARK MAX	REV Robotics	CAN
SPARK FLEX	REV Robotics	CAN
TalonFX	CTR Electronics	CAN
TalonFXS	CTR Electronics	CAN
Nova	Thrifty Bot	CAN