> 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/how-to.md). # 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](/tutorial/tutorial.md) section instead. These guides assume a working config and address a specific task or problem. Code samples default to WPILib Commands v2 (`swervelib.commands2`, `yams.commands2`), with a Commands v3 tab or note wherever the API differs. * [How to tune PIDF gains](/how-to-guides/tune-pidf-gains.md), including live tuning from a dashboard * [How to determine inversion](/how-to-guides/determine-inversion.md) * [How to verify your module locations](/how-to-guides/verify-module-locations.md) * [How to use a custom gyro](/how-to-guides/use-a-custom-gyro.md): for a heading source YAGSL's parser doesn't build, supplied as a `Rotation3d` * [How to put devices on a different CAN bus](/how-to-guides/choose-a-can-bus.md): the `canbus` values for the SystemCore and Motioncore buses, and what each vendor accepts * [How to drive to a pose](/how-to-guides/drive-to-a-pose.md): a single point-to-point PID move, no path planner needed * [How to set up PathPlanner](/how-to-guides/setup-pathplanner.md): register a YAGSL-built `SwerveDrive` with PathPlanner's `AutoBuilder` (Commands v2) * [How to access raw hardware devices](/how-to-guides/access-raw-hardware-devices.md): get the actual vendor motor controller/encoder/gyro objects `SwerveParser` built * [The 8 steps](/how-to-guides/the-8-steps.md): the translational-axis/heading coupling debugging procedure * [How to fix common SparkMAX/SparkFlex problems](/how-to-guides/fix-sparkmax-common-problems.md) * [How to set up AdvantageScope](/how-to-guides/set-up-advantagescope.md) * [How to view your DataLog in AdvantageScope](/how-to-guides/view-your-datalog-in-advantagescope.md): opening a recorded `.wpilog` after the fact, not live telemetry * [Troubleshooting flowchart](/how-to-guides/troubleshooting-flowchart.md) --- # Agent Instructions This documentation is published with GitBook. GitBook is the documentation platform designed so that both humans and AI agents can read, navigate, and reason over technical content effectively. Learn more at gitbook.com. ## Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation by asking a question. Perform an HTTP GET request on the following URL with the `ask` and `goal` query parameters: ``` GET https://yagsl.yassrobotics.com/how-to-guides/how-to.md?ask=&goal= ``` `ask` is the immediate question: it should be specific, self-contained, and written in natural language. `goal` is what the user is ultimately trying to achieve, the reason they need the answer. Sharing it helps GitBook give you a better, more relevant answer. A goal is most helpful when it describes the outcome the user wants rather than restating the question. For example, with `ask=how do I create an API token`, a goal like `automate deployments from our CI pipeline` lets GitBook tailor the answer to that use case. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.