> For the complete documentation index, see [llms.txt](https://yagsl.gitbook.io/yams/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://yagsl.gitbook.io/yams/documentation/how-to/how-to-find-your-mechanism-circumference.md).

# How to find your mechanism circumference?

<figure><img src="/files/7qY7Tsv4CrhaDnlPHbJU" alt=""><figcaption></figcaption></figure>

Mechanism circumference is used to convert mechanism rotations to measurements. This is primarily useful for Elevators or Linear Slides where the primary unit of control is in `Distance` (usually meters).&#x20;

Your **Mechanism Circumference** is the circumference of your final sprocket/gear which translates directly to Distance.

For elevators this is the drum circumference $$c = 2\*\pi \* r$$ OR if driven by a sprocket $$c = pitch\*teeth$$

{% hint style="warning" %}
Remember that you measurement ≠ actual height of the mechanism UNLESS you set the elevator starting height to be relative to the floor AND adjust your limits accordingly
{% endhint %}

## Set the circumference in YAMS

```java
SmartMotorControllerConfig smcConfig = new SmartMotorControllerConfig(this)
  .withControlMode(ControlMode.CLOSED_LOOP)
  // Mechanism Circumference is the distance traveled by each mechanism rotation converting rotations to meters.
  .withMechanismCircumference(Meters.of(Inches.of(0.25).times(22).in(Meters)))
  .withMechanismCircumference(Inches.of(4).times(Math.PI)) // 4in * PI
  .withWheelDiameter(Inches.of(4)) // Same as above
  .withWheelRadius(Inches.of(2)) // Same as above
  .withStartingPosition(Meters.of(0));
```


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