> 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/tutorial/01-gather-your-robot-information.md). # Gather your robot information YAGSL is configured entirely from information about *your* robot — there is no universal constants file that works for everyone. Before opening [config.yagsl.com](https://config.yagsl.com), collect everything in this step. Having it all on hand up front saves you from re-measuring later. {% hint style="warning" %} Every swerve drive is different, even between robots using the same COTS modules (SDS MK4, MAXSwerve, etc.). Don't assume your numbers match another team's example. {% endhint %} ## Hardware types and connections | Feature | Notes | | ------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | Gyroscope model and connection | e.g. Pigeon 2.0 on CAN, NavX over USB/SPI/I2C, CANandGyro on CAN. The connection method matters — a NavX over USB is a different config than one on the MXP (SPI). | | Drive motor + controller for each module | e.g. Kraken X60 on TalonFX, NEO on SparkMAX, etc. | | Angle/steering motor + controller for each module | Same as above, per module. | | Absolute encoder model and connection for each module | e.g. CANcoder on CAN, REV Through Bore on a data port, attached to a SparkMAX analog/duty-cycle port. | | CAN bus name | `rio` on a roboRIO, unless you're running CTRE devices on a [CANivore](https://store.ctr-electronics.com/canivore/) (use the CANivore's configured name). Starting with the 2027 SystemCore, name whichever of its several native CAN buses each device is actually on. | | CAN ID / channel of every motor controller, encoder, and gyro | Get this wrong and you'll be controlling the wrong device without realizing it. | ## Physical characteristics | Feature | Relevance | | ------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------- | | Drive gear ratio | How many drive motor rotations produce one wheel rotation. Usually published by the module manufacturer. | | Steering/angle gear ratio | How many steering motor rotations produce one full module rotation. Also published by the manufacturer. | | Wheel diameter | Needed to convert motor rotations into distance traveled. | | Module locations | Distance in inches from the robot's center to each module's center, split into "front" (X) and "left" (Y) components. See below for how to measure this. | ### Measuring module locations Measure in CAD if you can, for precision — otherwise, use this technique from Team 5010: 1. Lay the robot on its side and rotate the wheels perpendicular to the direction you're measuring. 2. Measure to the *outside* of each wheel and subtract one wheel width to get the center-to-center measurement. 3. Repeat in the other direction. Record all four module locations (front-left, front-right, back-left, back-right) relative to the robot's center, in inches: | Module | X "Front" (in) | Y "Left" (in) | | ---------------- | -------------- | ------------- | | Front Left (FL) | + | + | | Front Right (FR) | + | − | | Back Left (BL) | − | + | | Back Right (BR) | − | − | ## Inversion and offsets — record placeholders now, fill in later You won't be able to determine these until your code is deployed (that happens in [step 4](/tutorial/04-verify-and-calibrate-hardware.md)), but it helps to have a table ready: | Module | Drive Inverted? | Angle Inverted? | Absolute Encoder Inverted? | Absolute Encoder Offset (°) | | ---------------- | --------------- | --------------- | -------------------------- | --------------------------- | | Front Left (FL) | | | | | | Front Right (FR) | | | | | | Back Left (BL) | | | | | | Back Right (BR) | | | | | Also note whether your gyroscope needs to be inverted — it must report an **increasing** yaw while the robot rotates counterclockwise. {% hint style="info" %} A printable version of a bring-up checklist covering all of the above (courtesy of DevilBotz 2876) is available in the repository's asset folder if your team prefers a paper checklist during bring-up. {% endhint %} With this information in hand, move on to [installing YAGSL](/tutorial/02-install-yagsl.md). --- # Agent Instructions This documentation is published with GitBook. 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