# Changelog
## 2026.1.17
* Empirical Method for CRT by [@mjjbycicle](https://github.com/mjjbycicle) in [#68](https://github.com/Yet-Another-Software-Suite/YAMS/pull/68)
* SmartMotorController Control Request Fix by [@thenetworkgrinch](https://github.com/thenetworkgrinch) in [#69](https://github.com/Yet-Another-Software-Suite/YAMS/pull/69)
* Fixed the DCMotorSim to work with the correct units by [@thenetworkgrinch](https://github.com/thenetworkgrinch) in [#72](https://github.com/Yet-Another-Software-Suite/YAMS/pull/72)
* Swerve drive sysId by [@thenetworkgrinch](https://github.com/thenetworkgrinch) in [#73](https://github.com/Yet-Another-Software-Suite/YAMS/pull/73)
* Inversions shouldn't apply in Simulation by [@thenetworkgrinch](https://github.com/thenetworkgrinch) in [#74](https://github.com/Yet-Another-Software-Suite/YAMS/pull/74)
* MaybeCRT by [@alexalex02](https://github.com/alexalex02) in [#70](https://github.com/Yet-Another-Software-Suite/YAMS/pull/70)
* Kitbot added by [@nobodyhere4](https://github.com/nobodyhere4) in [#62](https://github.com/Yet-Another-Software-Suite/YAMS/pull/62)
## 2026.1.16
* Fixed non-profiled Closed Loop Control in TalonFXS, TalonFX, and SparkMax.
* Added `Conversion` for ThriftyNova encoder readings to account for encoder ticks.
* Fixed `SwerveDrive` template.
* Added Shoot on the move example.
* [Added Hood + Turret example ](https://github.com/Yet-Another-Software-Suite/YAMS/pull/63)(by 9738)
## 2026.1.4
* Added Imperial `YUnits.PoundSquareInches` `YUnits.PoundsSquareFeet`
* Deprecated `withMOI(double)` in favor of `withMOI(MomentOfInertia)`.
* Added `withMOI(MomentOfInertia)`
## 2026.1.2
* Added `SmartMotorControllerConfig().clone()` to allow for clonable configs.
* Added `MechanismConfig.withSmartMotorController()` for all mechanism and null param constructors
* Added `SensorData.set()` overloads
* 'Trapazoidal' Spelling Error Correction by [@akhaled247](https://github.com/akhaled247) in [#56](https://github.com/Yet-Another-Software-Suite/YAMS/pull/56)
* REV 2026 with Feedforwards and PIDs by [@thenetworkgrinch](https://github.com/thenetworkgrinch) in [#55](https://github.com/Yet-Another-Software-Suite/YAMS/pull/55)
* Added the option to loosely coupled followers. by [@thenetworkgrinch](https://github.com/thenetworkgrinch) in [#58](https://github.com/Yet-Another-Software-Suite/YAMS/pull/58)
* Allow for independently created config classes for constants files. by [@thenetworkgrinch](https://github.com/thenetworkgrinch) in [#59](https://github.com/Yet-Another-Software-Suite/YAMS/pull/59)
* Changed `SwerveInputStream.copy()` to `SwerveInputStream.clone()`
* Modified `SmartMotorControllerConfig` to allow for creation without a `Subsystem` but still require a subsystem eventually.
* Modified `SmartMotorController` telemetry to only create Live Tuning and other useful commands if tunable setpoints are not enabled.
* Added `MechanismGearing(double...)` overload
* Added DifferentialDrive example.
## 2025.12.22
* Added the ability to use multiple SMC's with Live Tuning in one subsystem
* Added AdvantageKit example
* Modified `SwerveDrive` to support AdvantageKit better.
* Updated Telemetry Setup for standalone SMC's to be automatic.
* Added Units to Telemetry Fields.
* Added DoubleFlyWheel example.
* Fixed ElevatorConfig comments saying "length" instead of "angle" [#54](https://github.com/Yet-Another-Software-Suite/YAMS/pull/54)
* Added support for user moment of inertia in ExponentialProfilePIDController [#50](https://github.com/Yet-Another-Software-Suite/YAMS/pull/50)
* Improved Exponential Elevator Examples [#46](https://github.com/Yet-Another-Software-Suite/YAMS/pull/46)
* Added ExponentialProfile.
* Add MapleSim Integration to SwerveDrive by [@konnorreynolds](https://github.com/konnorreynolds) in [#49](https://github.com/Yet-Another-Software-Suite/YAMS/pull/49)
## 2025.11.05
* Renamed `.withExternalGearing` to `.withExternalEncoderGearing`.
* Added several new easy commands, like "Up", "Down", and "ZeroEncoder".
* Moved commands to "SmartDashboard/Mechanisms/MECHNAME/MOTORNAME/Commands/".
* Fixed immutable SensorData fields.
* Fixed `SparkWrapper.setEncoderPosition` to set the sim position correctly.
## 2025.11.02
* Renamed `SmartMotorControllerConfig.withZeroOffset` to `SmartMotorControllerConfig.withExternalEncoderZeroOffset`
## 2025.10.31
* Updated `SwerveInputStream` to use `.with*` for shared styling.
* Added `swerve_drive` example.
## 2025.10.29
* Added setpoint visualization to Arm Mechanism2d
* Fixed ArmFeedforward calculation on Spark's, and Nova's. Changed velocity calculation from Rotations to Radians. Found by 8114 (The Rocketeers)
## 2025.10.27
* Renamed `Shooter` to `FlyWheel`
* Added Loop Time to each mechanism.
## 2025.10.14
* Added `YUnits` which allows you to include more exotic units in your code.
* Added `Sensor`s which allow you to seamlessly fetch automatically modified sensor data during sim and real data when running IRL.
## July 2025
See what’s new and improved in our July update.
{% columns %}
{% column %}
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{% column %}
#### Product feature #1
* Feature description
* Feature description
[Read the documentation](https://www.gitbook.com/)
#### Product feature #2
* Feature description
* Feature description
* Feature description
[Read the documentation](https://gitbook.com/)
#### Product feature #3
* Feature description
* Feature description
* Feature description
[Read the documentation](https://gitbook.com/)
{% endcolumn %}
{% endcolumns %}
Improved
* Product improvement
* Product improvement
* Product improvement
* Product improvement
* Product improvement
Fixed
* Product fix
* Product fix
* Product fix
* Product fix
* Product fix
***
## June 2025
See what’s new and improved in our June update.
{% columns %}
{% column %}
{% endcolumn %}
{% column %}
#### Product feature #1
* Feature description
* Feature description
[Read the documentation](https://www.gitbook.com/)
#### Product feature #2
* Feature description
* Feature description
* Feature description
[Read the documentation](https://gitbook.com/)
{% endcolumn %}
{% endcolumns %}
Improved
* Product improvement
* Product improvement
* Product improvement
* Product improvement
* Product improvement
Fixed
* Product fix
* Product fix
* Product fix
* Product fix
* Product fix
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