> 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/reference.md).

# 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](/tutorial/tutorial.md) or [How-to Guides](/how-to-guides/how-to.md).

* [JSON Configuration Schema](/reference/json-schema.md): every field in `swervedrive.json`, module files, `physicalproperties.json`, and `pidfproperties.json`.
* [Supported Hardware](/reference/hardware.md): gyro, motor controller, and absolute encoder type tables plus per-device notes.
* [Standard Conversion Factors](/reference/standard-conversion-factors.md): gear ratios/wheel diameters for common COTS swerve modules.
* [Vendordep Installation](/reference/vendordep-installation.md): the two YAGSL vendordeps (Commands v2 and Commands v3) and which vendor libraries you need for your hardware.
* [API Reference](/reference/api-reference.md): the `swervelib` packages, the `SwerveParser` entry points, and where to find docs for `SwerveDrive`, `SwerveModule`, and friends (they're YAMS classes).
* [Schema Changes](/reference/schema-changes.md): migrating a 2026 project to YAGSL 2027, and migrating a pre-2026.8.05 `swerve/` config directory.
* [Swerve Drive Drift: Causes and Tuning Order](/reference/swerve-drift-causes.md): hardware/software/config causes of drift, and the fixed order to tune them out.


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