YAGSL
  • Welcome to Yet Another Swerve Document
    • Resources
  • Overview
    • What we do
    • Our Features
      • Telemetry
      • Simulation
      • Lock Pose
      • Max Speed
      • Chassis Speed Discretization
      • Vision Odometry
      • Heading Correction
      • Auto-centering Modules
      • Offset Offloading
      • Cosine Compensation
      • Module Auto-synchronization
      • Angular Velocity Compensation
    • Changelog
    • Java API
    • Example Code
    • Config Generator
    • 💸Donations
    • 👕Merch
    • Discord
  • Fundamentals
    • Swerve Drive
    • Swerve Modules
  • Bringing up swerve
    • Preface
    • Swerve Information
    • Check your gyroscope
    • Check your motors
    • Creating your first configuration
  • Configuring YAGSL
    • Getting to know your robot
      • Gear Ratio
    • Dependency Installation
    • Configuration
      • Swerve Drive Configuration
      • Physical Properties Configuration
      • PIDF Properties Configuration
        • PIDF
      • Swerve Module Configuration
      • Controller Properties Configuration
      • Device Configuration
    • Code Setup
    • Standard Conversion Factors
    • How to tune PIDF
    • When to invert?
    • Flowcharts
    • The eight steps
    • Swerve Drive Drift
    • SparkMAX Common Problems
    • Verifying your Module Locations
    • Tuning out Drift
  • Devices
    • Gyroscope
      • NavX
      • Pigeon
      • Pigeon 2.0
      • ADXRS450
      • ADIS16448
      • ADIS16470
    • Motor Controllers
      • SparkMAX
      • SparkFlex
      • TalonFX
    • Absolute Encoders
  • Analytics and Debugging
    • FRC Web Components
    • Advantage Scope
  • Product Guides
    • Java API
    • PathPlanner
    • ❌Tuning PID with REV Hardware Client
    • ❌Drive Code
  • Legacy Documentation
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On this page
  • Define a front and expect to change it.
  • Calibrate your gyroscope...
  • Why should you invert your gyorscope?

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  1. Bringing up swerve

Check your gyroscope

PreviousSwerve InformationNextCheck your motors

Last updated 1 year ago

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Define a front and expect to change it.

It's easiest to define a front, maybe it's one that you want but expect to change it. Relative locations of modules are determined by the gyroscope. If your gyroscope is installed in the wrong orientation and can't be changed you WILL have to compensate for it in code that is not in any existing examples or apart of YAGSL.

FRONT is determined by gyroscope 0!

Calibrate your gyroscope...

If you are using a NavX or any gyroscope I would highly recommend that you calibrate it at least once especially at tournaments. NavX's are calibrated to the humidity of their factory (in Hawaii) and you should definitely recalibrate it when it gets to your shop. I have more documentation on this for specific gyroscopes here.

Why should you invert your gyorscope?

Gyrscope's should be inverted ONLY if they do not increase their yaw while moving counterclockwise!

Gyroscope