What to expect?

Goal-oriented recipes for a robot that's already running YAGSL. If you're setting up your first swerve robot, start with the Tutorial section instead — these guides assume a working config and address a specific task or problem.

• How to tune PIDF gains

• How to determine inversion

• How to verify your module locations

• How to use a custom gyro — for hardware YAGSL's parser doesn't build, like a roboRIO-attached Studica AHRS

• How to drive to a pose — a single point-to-point PID move, no path planner needed

• How to set up PathPlanner — register a YAGSL-built SwerveDrive with PathPlanner's AutoBuilder

• How to access raw hardware devices — get the actual vendor motor controller/encoder/gyro objects SwerveParser built

• The 8 steps — the translational-axis/heading coupling debugging procedure

• How to fix common SparkMAX/SparkFlex problems

• How to set up AdvantageScope

• How to view your DataLog in AdvantageScope — opening a recorded .wpilog after the fact, not live telemetry

• Troubleshooting flowchart