Open source · FRC Team Software

Yet Another
Software Suite

Four vendor-agnostic libraries for swerve drives, mechanisms, vision, and mechanism design — built by FRC teams, for FRC teams, with simulation baked in from day one.

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Libraries

500+

Teams running YASS

100%

Open source

YASS Libraries

Each library owns one part of the stack. Use one, use all four — they're built to share a philosophy, not force a dependency.

YAGSL

Yet Another Generic Swerve Library

A plug-and-play swerve drive library. Describe your robot's hardware in a JSON file and YAGSL handles kinematics, odometry, and motor configuration, whether you're wiring up your first swerve chassis or tuning a competition drivetrain.

Docs GitHub Config Generator

YAMS

Yet Another Mechanism System

A unified interface for elevators, arms, and pivots, with simulation and telemetry built in from the start. Write your mechanism code once and run it the same way on the real robot and in sim for FRC.

Docs GitHub

YALL

Yet Another Limelight Library

A simpler, more reliable interface for getting Limelight vision working on your robot, without having to dig through NetworkTables by hand.

Docs GitHub

YAMG

Yet Another Mechanism Generator

A web-based mechanism simulator and code generator. Prototype an arm, elevator, or turret and see how it behaves before you've cut a single piece of metal.

Live Tool GitHub

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