> 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/reference/api-reference.md).

# API Reference

YAGSL's own Java surface is intentionally small: `swervelib.parser.SwerveParser` reads your [JSON config](/reference/json-schema.md) 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](https://yagsl.gitbook.io/yams/api-reference/java-reference/swerve/swerve-drive)                |
| `yams.mechanisms.config.SwerveDriveConfig`             | [SwerveDriveConfig](https://yagsl.gitbook.io/yams/api-reference/java-reference/swerve/swerve-drive-config)   |
| `yams.mechanisms.swerve.SwerveModule` (per-module)     | [SwerveModule](https://yagsl.gitbook.io/yams/api-reference/java-reference/swerve/swerve-module)              |
| Module config (built internally from your module JSON) | [SwerveModuleConfig](https://yagsl.gitbook.io/yams/api-reference/java-reference/swerve/swerve-module-config) |
| `yams.mechanisms.swerve.utility.SwerveInputStream`     | [SwerveInputStream](https://yagsl.gitbook.io/yams/api-reference/java-reference/swerve/swerve-input-stream)   |

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

{% hint style="info" %}
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.
{% endhint %}

## Where to look for what

* **"What JSON fields exist?"** → [JSON Schema Reference](/reference/json-schema.md) (this repo).
* **"What does `SwerveDrive.drive(...)` do, what are all its methods?"** → [YAMS SwerveDrive reference](https://yagsl.gitbook.io/yams/api-reference/java-reference/swerve/swerve-drive).
* **"How do I build a `SwerveDriveConfig` by hand instead of from JSON?"** → [YAMS SwerveDriveConfig reference](https://yagsl.gitbook.io/yams/api-reference/java-reference/swerve/swerve-drive-config).
* **"How do I wire joystick input into field/robot-relative chassis speeds?"** → [YAMS SwerveInputStream reference](https://yagsl.gitbook.io/yams/api-reference/java-reference/swerve/swerve-input-stream).
* **"What changed in the JSON schema recently?"** → [Schema Changes](/reference/schema-changes.md).


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