java.md

Java API

The YAMS Java API is split into a framework-independent core and two command framework bindings:

• yams.core.*: mechanism and motor controller state, physics simulation, telemetry, configs, motor controller wrappers, gearing, math, units and exceptions. It does not depend on a command framework.
• yams.commands2.*: WPILib Commands v2 bindings. The mechanisms, SmartMotorControllerConfig, SwerveDriveConfig, SwerveDrive and SwerveInputStream are bound to a Subsystem and return Commands v2 Commands and Triggers.
• yams.commands3.*: WPILib Commands v3 bindings. The same classes, bound to a Commands v3 Mechanism and returning Commands v3 Commands and Triggers.

Install exactly one YAMS vendordep: https://cdn.yassrobotics.com/yams_commands2.json for Commands v2, or https://cdn.yassrobotics.com/yams_commands3.json for Commands v3. Robot code imports the mechanisms, SmartMotorControllerConfig, SwerveDriveConfig, SwerveDrive and SwerveInputStream from yams.commands2 or yams.commands3, and everything else from yams.core. Each mechanism accepts a SmartMotorController and a mechanism config built with a fluent builder pattern, and publishes telemetry to NetworkTables.

Packages

Package	Classes
yams.commands2.mechanisms / yams.commands3.mechanisms	Arm, Elevator, Pivot, FlyWheel, DoubleJointedArm, DifferentialMechanism
yams.commands2.config / yams.commands3.config	SmartMotorControllerConfig, SwerveDriveConfig
yams.commands2.swerve / yams.commands3.swerve	SwerveDrive, SwerveInputStream
yams.commands2.telemetry / yams.commands3.telemetry	SwerveInputStreamTelemetry, SmartMotorControllerCommandRegistry, CommandTunable (Commands v3 only)
yams.core.mechanisms.config	ArmConfig, ElevatorConfig, PivotConfig, FlyWheelConfig, DifferentialMechanismConfig, SensorConfig, SwerveModuleConfig
yams.core.mechanisms.config.enums	GyroAxis
yams.core.mechanisms.swerve	SwerveModule
yams.core.motorcontrollers	SmartMotorController
yams.core.motorcontrollers.local	SparkWrapper, NovaWrapper
yams.core.motorcontrollers.remote	TalonFXWrapper, TalonFXSWrapper
yams.core.motorcontrollers.enums	ControlMode, MotorMode
yams.core.motorcontrollers.simulation	Sensor, SensorData, BatterySim
yams.core.telemetry	SmartMotorControllerTelemetryConfig
yams.core.telemetry.enums	TelemetryVerbosity
yams.core.gearing	GearBox, Sprocket, MechanismGearing
yams.core.math	SmartMath, ExponentialProfilePIDController, LQRConfig, LQRController, DerivativeTimeFilter
yams.core.units	YUnits, EasyCRT
yams.core.exceptions	Configuration exceptions

{% hint style="info" %} The old flat packages (yams.mechanisms.*, yams.motorcontrollers.*, yams.gearing.* and so on) are gone. See MIGRATION.md in the YAMS repository for the full package mapping. WPILib 2027 classes are under org.wpilib.* (for example org.wpilib.math.system.DCMotor and org.wpilib.units.Units). {% endhint %}

Commands v2 and Commands v3

The configuration and state APIs are the same in both bindings, and the mechanism classes expose the same factory names. The differences are what a mechanism is bound to and which framework's types the factories return:

	Commands v2 (yams.commands2)	Commands v3 (yams.commands3)
Config binding	new SmartMotorControllerConfig(subsystem) / withSubsystem(Subsystem)	new SmartMotorControllerConfig(mechanism) / withMechanism(Mechanism)
Owner getter	getSubsystem()	getMechanism()
Command factories (setAngle, run, runTo, ...)	Return org.wpilib.command2.Command	Return org.wpilib.command3.Command
Trigger factories (near, gte, lte, between, max, min)	Return org.wpilib.command2.button.Trigger	Return org.wpilib.command3.Trigger
Live tuning command	Commands v2 Command on the Subsystem	Commands v3 Command on the Mechanism; SwerveInputStream and SwerveDrive tuning commands are published through CommandTunable

The isNear(...) Trigger factory was renamed to near(...). The boolean check isNear(...) still exists for use outside a Trigger. Live tuning is registered automatically at TelemetryVerbosity.HIGH; at other verbosities call config.setupLiveTuning().