We introduce a four-parameter family of interacting particle systems on the line which can be diagonalized explicitly via a complete set of Bethe ansatz eigenfunctions, and which enjoy certain Markov dualities. Using this, for the systems started in step initial data we write down nested contour integral formulas for moments and Fredholm determinant formulas for Laplace-type transforms. Taking various choices or limits of parameters, this family degenerates to many of the known exactly solvable models in the Kardar-Parisi-Zhang universality class, as well as leads to many new examples of such models. In particular, ASEP, the stochastic six-vertex model, $q$-TASEP and various directed polymer models all arise in this manner. Our systems are constructed from stochastic versions of the R-matrix related to the six-vertex model. One of the key tools used here is the fusion of R-matrices and we provide a probabilistic proof of this procedure.