Information
Information-oriented lookup material: exact JSON field names/types, supported hardware, and the YAMS API surface YAGSL hands you. Come here when you already know what you're doing and need a precise answer — for step-by-step guidance see Tutorial or How-to Guides.
JSON Configuration Schema — every field in
swervedrive.json, module files,physicalproperties.json, andpidfproperties.json.Supported Hardware — gyro, motor controller, and absolute encoder type tables plus per-device notes.
Standard Conversion Factors — gear ratios/wheel diameters for common COTS swerve modules.
Vendordep Installation — which vendor dependencies you need for your hardware.
API Reference — where to find docs for
SwerveDrive,SwerveModule, and friends (they're YAMS classes).Schema Changes — migrating a pre-2026.8.05
swerve/config directory.Swerve Drive Drift: Causes and Tuning Order — hardware/software/config causes of drift, and the fixed order to tune them out.
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