YAMS

YAMS (Yet Another Mechanism Suite) is a WPILib vendordep library for FRC robots. It provides a unified motor controller abstraction over REV and CTRE 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.

Features

• Motor controller abstraction — a single SmartMotorController interface over SPARK MAX, SPARK FLEX, TalonFX, and TalonFXS
• Mechanism classes — Arm, Elevator, Pivot, FlyWheel, DoubleJointedArm, DifferentialMechanism, and SwerveDrive
• 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

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