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Getting Started

{% hint style="info" %} YAMS requires WPILib 2026 or later. Ensure your project is up to date before installing. {% endhint %}

Example Code

{% @github-files/github-code-block url="https://github.com/Yet-Another-Software-Suite/YAMS/blob/master/examples/simple_arm/java/frc/robot/subsystems/ArmSubsystem.java#L82-L91" %}

Minimal Example — Java

The snippet below creates a single-motor arm subsystem using YAMS.

import com.revrobotics.spark.SparkMax;
import com.revrobotics.spark.SparkLowLevel.MotorType;
import edu.wpi.first.math.system.plant.DCMotor;
import yams.mechanisms.Arm;
import yams.mechanisms.config.ArmConfig;
import yams.motorcontrollers.SmartMotorController;
import yams.motorcontrollers.SmartMotorControllerConfig;
import yams.motorcontrollers.local.SparkWrapper;

public class ArmSubsystem extends SubsystemBase {

    private final Arm arm;

    public ArmSubsystem() {
        SmartMotorControllerConfig motorConfig = new SmartMotorControllerConfig(this)
            .withIdleMode(MotorMode.BRAKE)
            .withGearing(Constants.ARM_GEARING)
            .withClosedLoopController(0.5, 0.0, 0.01)
            .withFeedforward(new ArmFeedforward(0.1, 0.5, 0.01))
            .withSoftLimits(Degrees.of(-90), Degrees.of(90))
            .withMomentOfInertia(Meters.of(0.6), Kilograms.of(2.0))
            .withStatorCurrentLimit(Amps.of(40))
            .withClosedLoopTolerance(Degrees.of(2))
            .withTelemetry("ArmMotor", TelemetryVerbosity.HIGH);
        SmartMotorController motor = new SparkWrapper(
            new SparkMax(Constants.ARM_CAN_ID, MotorType.kBrushless),
            DCMotor.getNEO(1),
            motorConfig
        );
        ArmConfig config = new ArmConfig()
            .withLength(Meters.of(0.6))
            .withHardLimits(Degrees.of(-90), Degrees.of(90))
            .withTelemetry("Arm", TelemetryVerbosity.HIGH);
        arm = new Arm(config, motor);
    }

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

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

Minimal Example — C++

#include <rev/SparkMax.h>
#include "yams/mechanisms/Arm.hpp"
#include "yams/mechanisms/config/ArmConfig.hpp"
#include "yams/motorcontrollers/SmartMotorControllerConfig.hpp"
#include "yams/motorcontrollers/local/SparkWrapper.hpp"

class ArmSubsystem : public frc2::SubsystemBase {
public:
    ArmSubsystem() {
        motorConfig
            .WithSubsystem(this)
            .WithIdleMode(yams::motorcontrollers::SmartMotorControllerConfig::MotorMode::BRAKE)
            .WithMotorGearing(Constants::kArmGearing)
            .WithFeedback(0.5, 0.0, 0.01)
            .WithFeedforward(frc::ArmFeedforward{0.1_V, 0.0_V,
                                                 units::unit_t<frc::ArmFeedforward::kv_unit>{0.5},
                                                 units::unit_t<frc::ArmFeedforward::ka_unit>{0.01}})
            .WithMechanismLimits(-90_deg, 90_deg)
            .WithMOI(0.6_m, 2.0_kg)
            .WithStatorCurrentLimit(40_A)
            .WithTelemetry("ArmMotor", yams::motorcontrollers::SmartMotorControllerConfig::TelemetryVerbosity::HIGH);
        motor.emplace(&m_sparkMax, frc::DCMotor::NEO(1), &motorConfig);
        armConfig.WithArmLength(0.6_m)
                 .WithMinAngle(-90_deg)
                 .WithMaxAngle(90_deg)
                 .WithTelemetryName("Arm");
        arm.emplace(&armConfig, &motor.value());
    }

    void Periodic() override { arm->UpdateTelemetry(); }
    void SimulationPeriodic() override { arm->SimIterate(); }

private:
    rev::spark::SparkMax m_sparkMax{Constants::kArmCanId,
                                    rev::spark::SparkMax::MotorType::kBrushless};
    yams::motorcontrollers::SmartMotorControllerConfig motorConfig;
    std::optional<yams::motorcontrollers::local::SparkWrapper> motor;
    yams::mechanisms::config::ArmConfig armConfig;
    std::optional<yams::mechanisms::Arm> arm;
};

Next Steps