swervedrive.json

Top-level drive configuration. Parsed into swervelib.parser.json.SwerveDriveJson.

{
  "gyro": {
    "type": "pigeon2_can",
    "id": 0,
    "canbus": ""
  },
  "gyroAxis": "yaw",
  "gyroInvert": false,
  "modules": ["frontleft.json", "frontright.json", "backleft.json", "backright.json"]
}

Field	Type	Required	Description
gyro	Device	yes	The robot's gyroscope. See Device type strings for valid type values.
gyroAxis	string enum	no (default "yaw")	Which physical axis of the gyro to use for robot heading: yaw, pitch, or roll.
gyroInvert	boolean	yes	Invert the gyroscope's heading reading.
modules	string[]	yes	Filenames (relative to the modules/ directory) of each module's JSON file, minimum 3, listed clockwise from front-left by convention.

gyro object

Field	Type	Description
type	string	Gyro type string — see Device type strings. Set to custom to skip YAGSL's gyro setup and configure the gyro yourself; see Custom Gyro.
id	number	CAN ID. Set to 0 if the gyro doesn't need one.
canbus	string	CAN bus name the gyro is on. "" for the default (rio) bus.

When gyro.type is custom, gyroAxis and gyroInvert above are also ignored — the parser never calls SwerveDriveConfig.withGyro()/withGyroInverted(), so you must call them yourself.