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C++ API

The YAMS C++ API mirrors the Java API under the yams namespace. Mechanism classes live in yams::mechanisms (with positional, velocity, config and swerve sub-namespaces), motor controller types in yams::motorcontrollers (with local, remote and simulation sub-namespaces), telemetry in yams::telemetry, gearing in yams::gearing, and math utilities in yams::math. Configuration classes use the same fluent With* builder methods as their Java counterparts.

YAMS C++ targets WPILib 2027, where the WPILib C++ types live in the wpi:: namespace with .hpp headers. All physical quantities use the WPILib units library under wpi::units (for example wpi::units::degree_t instead of Java's Angle, and wpi::units::meters_per_second_t for velocity, from headers such as <wpi/units/angle.hpp>). Other WPILib types you will see in signatures include wpi::math::DCMotor (<wpi/math/system/DCMotor.hpp>), wpi::math::Rotation2d / wpi::math::Pose2d, wpi::math::ChassisVelocities and wpi::math::SwerveModuleVelocity, and the command types wpi::cmd::CommandPtr, wpi::cmd::Trigger and wpi::cmd::SubsystemBase (<wpi/commands2/...>). The SwerveDrive and SwerveInputStream classes are templates parameterized on the number of modules (default 4), matching the WPILib SwerveDriveKinematics convention.

{% hint style="info" %} C++ is Commands v2 only. WPILib has not published a C++ Commands v3 API, so the YAMS C++ library ships only in the Commands v2 vendordep (https://cdn.yassrobotics.com/yams_commands2.json). The Commands v3 vendordep (yams_commands3.json) contains no C++ artifacts. All C++ command factories return wpi::cmd::CommandPtr and all triggers are wpi::cmd::Trigger. {% endhint %}

Headers

Every class has its own header under yams/ that matches its namespace, for example #include <yams/mechanisms/positional/Arm.hpp> or #include <yams/motorcontrollers/local/SparkWrapper.hpp>. The convenience header #include <yams/YAMS.hpp> pulls in the gearing, math, units, mechanism, swerve, telemetry and exception headers, but not the vendor-specific motor controller wrappers (SparkWrapper, NovaWrapper, TalonFXWrapper, TalonFXSWrapper), EasyCRT, or the simulation Sensor / BatterySim headers; include those directly.

Top-level namespaces

  • yams::mechanisms: SmartMechanism base class
  • yams::mechanisms::positional: Arm, Elevator, Pivot
  • yams::mechanisms::velocity: FlyWheel
  • yams::mechanisms::config: ArmConfig, ElevatorConfig, PivotConfig, FlyWheelConfig, MechanismPositionConfig, SimSensorConfig, SwerveModuleConfig
  • yams::mechanisms::swerve: SwerveDrive<N>, SwerveDriveConfig, SwerveModule
  • yams::mechanisms::swerve::utility: SwerveInputStream<N>, SwerveInputStreamTelemetry<N>
  • yams::motorcontrollers: SmartMotorController, SmartMotorControllerConfig
  • yams::motorcontrollers::local: SparkWrapper, NovaWrapper
  • yams::motorcontrollers::remote: TalonFXWrapper, TalonFXSWrapper
  • yams::motorcontrollers::simulation: Sensor, SensorData, BatterySim, sim suppliers
  • yams::telemetry: SmartMotorControllerTelemetryConfig, SwerveDriveTelemetryConfig, SwerveModuleTelemetryConfig, MechanismTelemetry
  • yams::gearing: GearBox, Sprocket, MechanismGearing
  • yams::math: LQRConfig, LQRController, DerivativeTimeFilter, SmartMath
  • yams::units: EasyCRT, extra unit types (YUnits.hpp)
  • yams::exceptions: YamsException and subclasses