> 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

## 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="/files/XzdnQyTidp5hwL8DDVPh" alt=""><figcaption><p>AdvantageScope's help menu</p></figcaption></figure>

4. Input the roboRIO IP address based on your team number: `10.TE.AM.2`.

<figure><img src="/files/qmZezha2OgSxD1c7gkWI" alt=""><figcaption><p>roboRIO Address field highlighted</p></figcaption></figure>

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

<figure><img src="/files/97OTl7LNgatNsULoYODg" alt=""><figcaption><p>Connect to Robot menu</p></figcaption></figure>

6. Add a new tab by clicking the `+` on the right side of the window.

<figure><img src="/files/v6KfYPMaHOfSeSCsPHr3" alt=""><figcaption><p>Add new tab</p></figcaption></figure>

7. Add a new 🦀 Swerve tab.

<figure><img src="/files/uTEqX4fnooOvFhnBjT4i" alt=""><figcaption><p>Swerve tab</p></figcaption></figure>

8. Drag in each of these `Mechanisms/swerve` fields under the Sources field:
   * `Mechanisms/swerve/states/current`
   * `Mechanisms/swerve/states/desired`
   * `Mechanisms/swerve/chassis/current`
   * `Mechanisms/swerve/chassis/desired`

<figure><img src="/files/tLvQbOTR1Z1NzdZ4NX1a" alt=""><figcaption></figcaption></figure>

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