> 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/set-up-advantagescope.md).

# Set up AdvantageScope

AdvantageScope is a data visualization tool, courtesy of team 6328 Mechanical Advantage, which can visualize the swerve drive to give you feedback for debugging.

## Opening

Since the 2024 season, [AdvantageScope](https://github.com/Mechanical-Advantage/AdvantageScope) has been included with the WPILib installation. There is no external download required, but with every WPILib update you should re-download the [WPILib installer](https://docs.wpilib.org/en/stable/docs/zero-to-robot/step-2/wpilib-setup.html) to get the latest version of WPILib tools.

## Configuring AdvantageScope

1. Connect your laptop to the robot.
2. Open `AdvantageScope (WPILib)`, or in VS Code open the command palette and type `WPILib: Start Tool`, then click `AdvantageScope`.
3. Click `Help`, then `Show Preferences`.

<figure><img src="https://567506766-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F754c0Fpq8fBi6k4ByS1k%2Fuploads%2Fgit-blob-c437a229fbe97723d36fc243a7ac92e39097adfd%2FAdvantageScope-Preferences.png?alt=media" alt="AdvantageScope Help menu."><figcaption><p>AdvantageScope's help menu</p></figcaption></figure>

4. In the **Robot Address** field, enter the SystemCore's IP address based on your team number: `10.TE.AM.2`.

<figure><img src="https://567506766-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F754c0Fpq8fBi6k4ByS1k%2Fuploads%2Fgit-blob-2a95113b334a8b52ca1e72dacb582cbb1d212d61%2FAdvantageScope-Preferences-IP.png?alt=media" alt="Robot Address field in AdvantageScope preferences."><figcaption><p>Robot Address field highlighted</p></figcaption></figure>

5. Connect to the robot (or the simulator).

<figure><img src="https://567506766-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F754c0Fpq8fBi6k4ByS1k%2Fuploads%2Fgit-blob-5fe8086da257c0f2ccd6dd9135f8d9dd4e7f1ed5%2FAdvantageScope-Connect.png?alt=media" alt="Connect to Robot menu in AdvantageScope."><figcaption><p>Connect to Robot menu</p></figcaption></figure>

6. On the right side of the window, click `+` to add a new tab.

<figure><img src="https://567506766-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F754c0Fpq8fBi6k4ByS1k%2Fuploads%2Fgit-blob-ae2d4ad70a14822b5aa01710ed1e6591f83d48b1%2FAdvantageScope-Add.png?alt=media" alt="Add new tab button in AdvantageScope."><figcaption><p>Add new tab</p></figcaption></figure>

7. Add a new 🦀 Swerve tab.

<figure><img src="https://567506766-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F754c0Fpq8fBi6k4ByS1k%2Fuploads%2Fgit-blob-06a3d874f2a4a67f6407a17001d8b9ec789a376f%2FAdvantageScope-Swerve.png?alt=media" alt="Swerve tab in AdvantageScope."><figcaption><p>Swerve tab</p></figcaption></figure>

8. In the Sources field, drag in each `Mechanisms/swerve` field:
   * `Mechanisms/swerve/states/current`
   * `Mechanisms/swerve/states/desired`
   * `Mechanisms/swerve/chassis/current`
   * `Mechanisms/swerve/chassis/desired`

<figure><img src="https://567506766-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F754c0Fpq8fBi6k4ByS1k%2Fuploads%2Fgit-blob-344d8db2750649e6828192b8781fb9c62c735622%2Fimage.png?alt=media" alt=""><figcaption></figcaption></figure>

{% hint style="info" %}
You may need to enable your robot before AdvantageScope shows values for these fields.
{% endhint %}

{% hint style="info" %}
`swerve` is the telemetry name you gave the drive with `SwerveDriveConfig.withTelemetry("swerve", ...)`; if you named it something else, look under `Mechanisms/<that name>`. The `current` fields need `TelemetryVerbosity.MID` or higher and the `desired` fields need `TelemetryVerbosity.HIGH`.
{% endhint %}

To see the robot's pose on a 2D/3D field, add a **2D Field** or **3D Field** tab instead and drag in `Mechanisms/swerve/pose`.

## Reading the display

{% hint style="info" %}
The **RED** lines are the measured velocity and position of each swerve module.

The **BLUE** lines are the velocity and position each module was commanded to.
{% endhint %}

Large, persistent gaps between the red and blue lines usually point to a tuning issue. See [how to tune PIDF gains](/how-to-guides/tune-pidf-gains.md) and [swerve drive drift causes](/reference/swerve-drift-causes.md).


---

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