Welcome to YAGSL

Brought to you by Yet Another Generic Swerve Library (YAGSL)

If your swerve drive uses only Falcon500/Kraken/TalonFXS, Pigeon2.0, and CANCoder from CTRE please also consider the Tuner X Swerve Drive Generator!

Overview

YAGSL is a Swerve Library developed by current and former BroncBotz mentors for all FRC teams. YAGSL is a JSON configuration parser that builds a YAMS SwerveDrive for your robot — describe your hardware once, generate the config at config.yagsl.com, and drive. See What is YAGSL? for how the pieces fit together.

This documentation is organized into four sections

• Tutorial — never used YAGSL before? Start here. A single linear walkthrough from a bare WPILib project to a driving swerve robot.

• How-to Guides — already have a robot running? Task-focused recipes for tuning PIDF, determining inversion, diagnosing drift, and other work you'll come back to.

• Reference — precise JSON schema field tables, supported hardware type strings, and where to find the YAMS API docs.

• Explanation — swerve drive theory and the reasoning behind how YAGSL and YAMS behave.

Upgrading an existing robot from before 2026.8.05? Your swerve/ config directory uses the old schema — see Schema Changes before you do anything else.

Get started

Your First Swerve RobotTune PIDF gainsThe 8 stepsSchema Changes (Migrating from pre-2026.8.05)

YAGSL Online Installation

https://yet-another-software-suite.github.io/YAGSL/yagsl/yagsl.json

Our Philosophy

Your program does not revolve around your swerve drive. Your constants file doesn't have to take 10 minutes to find the right option. Different robots should be able to work with the same code — swap the swerve/ config directory and the same subsystem code drives a different robot.