# YAGSL ## YAGSL - [Welcome to YAGSL](https://yagsl.yassrobotics.com/readme.md): Brought to you by Yet Another Generic Swerve Library (YAGSL) - [Your First Swerve Robot](https://yagsl.yassrobotics.com/tutorial/tutorial.md) - [Gather your robot information](https://yagsl.yassrobotics.com/tutorial/01-gather-your-robot-information.md) - [Install YAGSL](https://yagsl.yassrobotics.com/tutorial/02-install-yagsl.md) - [Generate your configuration](https://yagsl.yassrobotics.com/tutorial/03-generate-your-configuration.md) - [Verify and calibrate your hardware](https://yagsl.yassrobotics.com/tutorial/04-verify-and-calibrate-hardware.md) - [Deploy and drive](https://yagsl.yassrobotics.com/tutorial/05-deploy-and-drive.md) - [What to expect?](https://yagsl.yassrobotics.com/how-to-guides/how-to.md) - [Tune PIDF gains](https://yagsl.yassrobotics.com/how-to-guides/tune-pidf-gains.md): Starting points and a tuning procedure for your drive and angle motor gains. - [Determine inversion](https://yagsl.yassrobotics.com/how-to-guides/determine-inversion.md): Work out which motors, encoders, and the gyro need to be inverted. - [Verify your module locations](https://yagsl.yassrobotics.com/how-to-guides/verify-module-locations.md): Your front may not be what you think it is on a robot. - [Use a custom gyro](https://yagsl.yassrobotics.com/how-to-guides/use-a-custom-gyro.md): Configure a gyro YAGSL's parser doesn't build for you, using a Studica AHRS as the example. - [Drive to a pose](https://yagsl.yassrobotics.com/how-to-guides/drive-to-a-pose.md): Command the robot to a field-relative Pose2d without PathPlanner. - [Set up PathPlanner](https://yagsl.yassrobotics.com/how-to-guides/setup-pathplanner.md): Register a YAGSL-built SwerveDrive with PathPlanner's AutoBuilder. - [Access raw hardware devices](https://yagsl.yassrobotics.com/how-to-guides/access-raw-hardware-devices.md): Get the actual vendor motor controller/encoder/gyro objects SwerveParser built, for configuration that isn't exposed through SmartMotorController. - [The 8 steps](https://yagsl.yassrobotics.com/how-to-guides/the-8-steps.md) - [Fix common SparkMAX/SparkFlex problems](https://yagsl.yassrobotics.com/how-to-guides/fix-sparkmax-common-problems.md): These usually show up on MAXSwerve robots. - [Set up AdvantageScope](https://yagsl.yassrobotics.com/how-to-guides/set-up-advantagescope.md): AdvantageScope is a data visualization tool, courtesy of team 6328 Mechanical Advantage, which can visualize the swerve drive to give you feedback for debugging. - [View your DataLog in AdvantageScope](https://yagsl.yassrobotics.com/how-to-guides/view-your-datalog-in-advantagescope.md): Pull the .wpilog off your robot and look at what actually happened during a match or test run. - [Troubleshooting flowchart](https://yagsl.yassrobotics.com/how-to-guides/troubleshooting-flowchart.md) - [Information](https://yagsl.yassrobotics.com/reference/reference.md) - [JSON Configuration Schema](https://yagsl.yassrobotics.com/reference/json-schema.md) - [swervedrive.json](https://yagsl.yassrobotics.com/reference/json-schema/swervedrive-json.md) - [Module JSON](https://yagsl.yassrobotics.com/reference/json-schema/module-json.md) - [physicalproperties.json](https://yagsl.yassrobotics.com/reference/json-schema/physicalproperties-json.md) - [pidfproperties.json](https://yagsl.yassrobotics.com/reference/json-schema/pidfproperties-json.md) - [Device Type Strings](https://yagsl.yassrobotics.com/reference/json-schema/device-types.md) - [Supported Hardware](https://yagsl.yassrobotics.com/reference/hardware.md) - [Gyroscopes](https://yagsl.yassrobotics.com/reference/hardware/gyroscopes.md): Supported gyroscope/IMU types for swervedrive.json's gyro field - [Motor Controllers](https://yagsl.yassrobotics.com/reference/hardware/motor-controllers.md): Supported motor controller/motor combinations for module drive and angle motors - [Absolute Encoders](https://yagsl.yassrobotics.com/reference/hardware/absolute-encoders.md): Supported absolute encoder types for a module's absoluteEncoder field - [Standard Conversion Factors](https://yagsl.yassrobotics.com/reference/standard-conversion-factors.md): Known-good gearing values for common commercial-off-the-shelf swerve modules - [Vendordep Installation](https://yagsl.yassrobotics.com/reference/vendordep-installation.md): Vendor dependencies YAGSL requires and how to install them - [API Reference](https://yagsl.yassrobotics.com/reference/api-reference.md) - [Schema Changes (Migrating from pre-2026.8.05)](https://yagsl.yassrobotics.com/reference/schema-changes.md) - [Swerve Drive Drift: Causes and Tuning Order](https://yagsl.yassrobotics.com/reference/swerve-drift-causes.md): Drift can be caused by anything and everything in a swerve drive... - [Why?](https://yagsl.yassrobotics.com/explanation/explanation.md) - [What is YAGSL?](https://yagsl.yassrobotics.com/explanation/what-is-yagsl.md): We make your swerve drive run! - [Swerve Drive Kinematics](https://yagsl.yassrobotics.com/explanation/swerve-drive-kinematics.md): How does Swerve Drive work? - [Swerve Modules](https://yagsl.yassrobotics.com/explanation/swerve-modules.md): What is a Swerve Module? - [Module Behaviors](https://yagsl.yassrobotics.com/explanation/module-behaviors.md): Module-level control behaviors and why they exist - [Chassis Control](https://yagsl.yassrobotics.com/explanation/chassis-control.md): Chassis-level speed limiting, discretization, and lock pose - [Telemetry, Simulation & Vision](https://yagsl.yassrobotics.com/explanation/telemetry-and-vision.md): Telemetry verbosity, simulation, and fusing vision pose estimates - [Changelog](https://yagsl.yassrobotics.com/explanation/changelog.md) - [YASS (Yet Another Software Suite)](https://yagsl.yassrobotics.com/external-links/yass-yet-another-software-suite.md) - [Resources](https://yagsl.yassrobotics.com/resources/resources.md) --- # Agent Instructions This documentation is published with GitBook. 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