FRC Mechanism Code Generator

A web-based tool for generating WPILib 2027 Java code for FRC (FIRST Robotics Competition) mechanisms like elevators, arms, pivots and flywheels.

Overview

This tool helps FRC teams quickly generate well-structured, command-based Java code for common robot mechanisms. It provides:

• Form-based configuration for mechanism parameters
• Real-time simulation of mechanism behavior
• Generated Java code for a Commands v2 subsystem or a Commands v3 mechanism
• Plain code that uses WPILib and the vendor library, or code that uses YAMS
• Support for different motor controllers (SparkMAX, SparkFlex, TalonFX, TalonFXS, ThriftyNova)
• Support for different motor types (NEO, NEO550, NEO Vortex, Minion, Thrifty Pulsar, Krakenx44, Krakenx60)

Features

• Code Generation: Create Java subsystem classes with proper control methods, telemetry, and simulation support
• Interactive Simulation: Test and visualize mechanism behavior with adjustable parameters
• Multiple Mechanism Types: Support for elevators, arms, pivots (turrets/wrists) and flywheels
• Comprehensive Configuration: Configure PID values, feedforward constants, soft limits, current limits, and more
• Static Export: The site can be built as a static site for easy deployment

Getting Started

Prerequisites

• Node.js 18.x or higher
• pnpm (recommended) or npm/yarn

Installation

1. Clone the repository:

   gh repo clone Yet-Another-Software-Suite/yamg
   cd yamg

2. Install dependencies:

   pnpm install

3. Start the development server:

   pnpm dev

4. Open http://localhost:3000 in your browser.

Seasons

yamg.yassrobotics.com serves the 2027 YAMG from main, and yamg.yassrobotics.com/2026 serves the 2026 YAMG from the 2026 branch. The YAMG Deploy workflow builds both after main passes its tests. After pushing to 2026, run it by hand from the Actions tab. To build the 2026 site for its path locally, set NEXT_PUBLIC_BASE_PATH=/2026.

For a new season, add its path in .github/workflows/deploy.yml and components/season-switch.tsx.

Deployment to GitHub Pages

This project is configured for easy deployment to GitHub Pages:

1. Update the basePath in next.config.mjs to match your repository name:

   basePath: '/your-repo-name',

2. Build and export the static site:

   pnpm build

3. Push the out directory to the gh-pages branch:

   git add out/ -f
   git commit -m "Deploy to GitHub Pages"
   git subtree push --prefix out origin gh-pages

   Alternatively, you can use a GitHub Action to automate deployment (see .github/workflows/deploy.yml).

SystemCore Package

YAMG can be installed on SystemCore as a package (yamg), so it is served from the robot itself at http://<systemcore>:5814/. Install it by dragging the .ipk onto the SystemCore web interface at http://robot.local, then open the yamg tile. The package holds only the 2027 site, without the season switch, since SystemCore only runs 2027 code.

• systemcore/ holds the package: the control scripts, the socket activated systemd units, the small Python web server, and the tile image.
• .github/workflows/build-ipk.yml builds the site with NEXT_PUBLIC_SYSTEMCORE=1 and packages it with opkg-build. It runs on every push and pull request.
• The deploy builds the package too and serves it beside the site, so the Download for SystemCore button at the bottom of the page gets the package built from the same commit. The version shown beside it links to that commit.
• .github/workflows/release.yml (run by hand from the Actions tab) builds a package with a release version and attaches it to a GitHub release.

Project Structure

• /app: Next.js app router pages
• /components: React components for the UI
• /lib: Core logic for code generation and simulation
  • /lib/simulation: Simulation classes
• /public: Static assets and template files
  • /public/templates: Handlebars templates for code generation, one per output (vendor or yams), command framework (v2 or v3) and mechanism, plus each motor controller's partials in controllers
  • /public/simulation: JavaScript simulation files

Documentation

For more detailed information, see the documentation in the /docs directory:

• Hardware Configuration Guide
• Simulation Development Guide
• User Guide
• Deployment Guide

Contributing

Contributions are welcome! Please feel free to submit a Pull Request.

License

This project is licensed under the GPL-3.0 License - see the LICENSE file for details.