# Details

- [AdvantageKit Integration](/yams/documentation/details/advantagekit-integration.md)
- [Organizing Configs in Constants](/yams/documentation/details/config-organization.md)
- [Smart Motor Controllers](/yams/documentation/details/editor.md)
- [Motor Controller Feature Matrix](/yams/documentation/details/editor/feature-matrix.md)
- [Simulation Only PID + FeedForward](/yams/documentation/details/editor/simulation-only-pid-+-feedforward.md)
- [Limiting Power Consumption](/yams/documentation/details/editor/limiting-power-consumption.md)
- [Exponential Profiles](/yams/documentation/details/editor/exponential-profiles.md)
- [LQR Controllers](/yams/documentation/details/editor/lqr-controllers.md)
- [Sensors](/yams/documentation/details/sensors.md): YAMS Supports simulation really well, but my sensors don't.
- [Arms](/yams/documentation/details/arms.md)
- [Elevators](/yams/documentation/details/elevators.md)
- [Turrets/Wrists](/yams/documentation/details/turrets-wrists.md)
- [Shooters](/yams/documentation/details/shooters.md)
- [run() vs runTo() Commands](/yams/documentation/details/run-vs-runto.md)
- [Setpoint Methods vs Command Helpers](/yams/documentation/details/setpoint-methods.md)
- [Telemetry](/yams/documentation/details/interactive-blocks.md)
- [Live Tuning](/yams/documentation/details/integrations.md)
- [System Identification (SysId)](/yams/documentation/details/sysid.md): System Identification (SysId) is the process of determining feedforward constants for your mechanism through statistical analysis of its inputs and outputs.
- [EasyCRT](/yams/documentation/details/easycrt.md): Chinese Remainder Theorem! Made easy by 6911