API Reference

YAGSL's own Java surface is intentionally small: swervelib.parser.SwerveParser reads your JSON config and hands you back a fully-built YAMS SwerveDrive. From that point on, you're driving and configuring a YAMS object, not a YAGSL-specific one — so the authoritative API reference lives in the YAMS docs, not here.

Class you get back from SwerveParser	YAMS API reference
yams.mechanisms.swerve.SwerveDrive	SwerveDrive
yams.mechanisms.config.SwerveDriveConfig	SwerveDriveConfig
yams.mechanisms.swerve.SwerveModule (per-module)	SwerveModule
Module config (built internally from your module JSON)	SwerveModuleConfig
yams.mechanisms.swerve.utility.SwerveInputStream	SwerveInputStream

The full YAMS API reference (all mechanisms, motor controllers, units, and math helpers — not just swerve) is at yagsl.gitbook.io/yams.

SwerveParser.createSwerveDriveDevices(config) is the one place YAGSL hands back something other than YAMS objects: alongside the SwerveDrive, it returns the raw vendor motor controller/encoder/ gyro objects it built, for the rare case where you need to call a vendor-specific method SmartMotorController doesn't expose. See How to access raw hardware devices.

Only SwerveParser and the JSON-file classes under swervelib.parser.json are YAGSL-specific. If you find yourself calling a method on SwerveDrive, SwerveModule, SwerveDriveConfig, SwerveModuleConfig, or SwerveInputStream, you're looking at YAMS API — go to the links above, not this repo's source, for the authoritative docs and Javadoc.

Where to look for what

• "What JSON fields exist?" → JSON Schema Reference (this repo).

• "What does SwerveDrive.drive(...) do, what are all its methods?" → YAMS SwerveDrive reference.

• "How do I build a SwerveDriveConfig by hand instead of from JSON?" → YAMS SwerveDriveConfig reference.

• "How do I wire joystick input into field/robot-relative chassis speeds?" → YAMS SwerveInputStream reference.

• "What changed in the JSON schema recently?" → Schema Changes.