New addition to the suite: EasyCRT. It applies the Chinese Remainder Theorem to YAMS, which sounds abstract until you’ve dealt with reconciling multiple periodic sensor signals into one clean mechanism state and wished the problem would just solve itself. Now it mostly does.
Huge thanks to Team 6911, and AlexG in particular, for building this originally to solve a problem on their own robot and then upstreaming it into YASS. This is the kind of contribution we like best: built for a real mechanism, tested on a real robot, then handed to everyone else running the suite. Docs and examples ship alongside the rest of YAMS, and it should drop in without much friction if you’re already using the mechanism system.
If your team has built something like this internally, we’d rather it end up here than sit in a private repo nobody else benefits from. Feedback and PRs are always welcome.