# How To

- [How to set an Arm's target Angle?](/yams/documentation/how-to/how-to-set-an-arms-target-angle.md)
- [How to set an Elevator's target Height?](/yams/documentation/how-to/how-to-set-an-elevators-target-height.md)
- [How to run SysId on a Arm?](/yams/documentation/how-to/how-to-run-sysid-on-a-arm.md)
- [How to run SysId on a Elevator?](/yams/documentation/how-to/how-to-run-sysid-on-a-elevator.md)
- [How to find your mechanism circumference?](/yams/documentation/how-to/how-to-find-your-mechanism-circumference.md)
- [How to shoot with a Shooter?](/yams/documentation/how-to/how-to-shoot-with-a-shooter.md)
- [How do I control a Mechanism without a Mechanism Class?](/yams/documentation/how-to/how-do-i-control-a-mechanism-without-a-mechanism-class.md): Sometimes you have "loosely mechanically coupled" design which requires you to control both motors independently instead of using one as a follower.
- [How do I sense activity based off of the current?](/yams/documentation/how-to/how-do-i-sense-activity-based-off-of-the-current.md)
- [How do I use a DCMotor that isn't in WPILib?](/yams/documentation/how-to/how-do-i-use-a-dcmotor-that-isnt-in-wpilib.md)
- [How do I use Exponential Profiles?](/yams/documentation/how-to/how-do-i-use-exponential-profiles.md)
- [How do I use absolute encoders on my Arm?](/yams/documentation/how-to/how-do-i-use-absolute-encoders-on-my-arm.md)
- [How to disable linear closed loop control?](/yams/documentation/how-to/how-to-disable-linear-closed-loop-control.md)