A variable displacement pump-motor includes a pump-motor having a plurality of cylinders and pistons, and further including a main shaft rotatable relative to the system body. A hydro mechanical control system includes a plurality of main stage valves in communication with the plurality of cylinders. Each of the main stage valves is configured to open and close a cylinder of the plurality of cylinders to one or more of high or low pressure fluid sources. A pilot spool valve is in selective communication with each of the main stage valves. The pilot spool rotates with the main shaft. The pilot spool includes coding configured to operate each of the main stage valves to open and close the respective cylinders to the one or more high and low pressure fluid sources according to a translational position of the pilot spool and rotation of the pilot spool by the main shaft.