> For the complete documentation index, see [llms.txt](https://yagsl.yassrobotics.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://yagsl.yassrobotics.com/how-to-guides.md).

# How-to Guides

- [What to expect?](https://yagsl.yassrobotics.com/how-to-guides/how-to.md)
- [Tune PIDF gains](https://yagsl.yassrobotics.com/how-to-guides/tune-pidf-gains.md): Starting points and a tuning procedure for your drive and angle motor gains.
- [Determine inversion](https://yagsl.yassrobotics.com/how-to-guides/determine-inversion.md): Work out which motors, encoders, and the gyro need to be inverted.
- [Verify your module locations](https://yagsl.yassrobotics.com/how-to-guides/verify-module-locations.md): Your front may not be what you think it is on a robot.
- [Use a custom gyro](https://yagsl.yassrobotics.com/how-to-guides/use-a-custom-gyro.md): Configure a gyro YAGSL's parser doesn't build for you by handing YAMS a Rotation3d supplier yourself.
- [Put devices on a different CAN bus](https://yagsl.yassrobotics.com/how-to-guides/choose-a-can-bus.md): Tell YAGSL which SystemCore, Motioncore or vendor CAN bus each device is on with the canbus field.
- [Drive to a pose](https://yagsl.yassrobotics.com/how-to-guides/drive-to-a-pose.md): Command the robot to a field-relative Pose2d without PathPlanner.
- [Set up PathPlanner](https://yagsl.yassrobotics.com/how-to-guides/setup-pathplanner.md): Register a YAGSL-built SwerveDrive with PathPlanner's AutoBuilder.
- [Access raw hardware devices](https://yagsl.yassrobotics.com/how-to-guides/access-raw-hardware-devices.md): Get the actual vendor motor controller/encoder/gyro objects SwerveParser built, for configuration that isn't exposed through SmartMotorController.
- [The 8 steps](https://yagsl.yassrobotics.com/how-to-guides/the-8-steps.md)
- [Fix common SparkMAX/SparkFlex problems](https://yagsl.yassrobotics.com/how-to-guides/fix-sparkmax-common-problems.md): These usually show up on MAXSwerve robots.
- [Set up AdvantageScope](https://yagsl.yassrobotics.com/how-to-guides/set-up-advantagescope.md): AdvantageScope is a data visualization tool, courtesy of team 6328 Mechanical Advantage, which can visualize the swerve drive to give you feedback for debugging.
- [View your DataLog in AdvantageScope](https://yagsl.yassrobotics.com/how-to-guides/view-your-datalog-in-advantagescope.md): Pull the .wpilog off your robot and look at what actually happened during a match or test run.
- [Troubleshooting flowchart](https://yagsl.yassrobotics.com/how-to-guides/troubleshooting-flowchart.md)


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