> 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/troubleshooting-flowchart.md).

# Troubleshooting flowchart

## Swerve drive diagram

<figure><img src="/files/mI3Vo1gWfvt34By0CQQR" alt=""><figcaption></figcaption></figure>

{% hint style="danger" %}
Older gyroscopes like the Pigeon 1 and NavX 1 drift the longer they're powered on. Consider rebooting or zeroing your gyroscope at the start of your program.
{% endhint %}

## Swerve modules spinning "out of control"

<figure><img src="/files/CySTKRsy5X7hxW1ha2hg" alt=""><figcaption></figcaption></figure>

## Swerve module does not spin correctly

1. Are the CAN IDs, motor types, and absolute encoder types correct? See the [device reference](/reference/hardware.md) for supported type strings.
2. Are the module `location`s correct?
3. Do you use an absolute magnetic encoder?
   1. Did you loctite the magnet in?
   2. Do you have a good (usually green LED) reading on the magnet?
4. Did you set `absoluteEncoderOffset` while the wheels had the bevel facing left and the wheel pointed straight front-to-back?
5. Did you check [how to determine inversion](/how-to-guides/determine-inversion.md) for inversion states?
6. Did you [tune your PID](/how-to-guides/tune-pidf-gains.md)?

If none of the above resolves it, move on to [The 8 steps](/how-to-guides/the-8-steps.md).

## Swerve drive "spins out of control"

<figure><img src="/files/CWWS4QDyhOtVuhEZpkk6" alt=""><figcaption></figcaption></figure>

See [how to determine inversion](/how-to-guides/determine-inversion.md) and [the 8 steps](/how-to-guides/the-8-steps.md).


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