Why?

Understanding-oriented background: swerve drive theory, how YAGSL/YAMS behave under the hood, and why. Nothing here is a step-by-step procedure — for that, see Tutorial or How-to Guides.

• What is YAGSL?

• Swerve Drive Kinematics

• Swerve Modules

• Module Behaviors — cosine compensation, heading correction, module auto-synchronization, offset offloading

• Chassis Control — max speed, chassis speed discretization, lock pose

• Telemetry, Simulation & Vision

• Changelog