# Preface

## Swerve Drives are complicated!

Swerve drives can have many things go wrong.  Debugging can be a long and arduous process  if you don't have all the right information.

## Configuring a swerve drive takes time!

Depending on your experience level with swerve; your experience with configuring a swerve drive will be very different. Don't forget to factor in that physically assembling swerve modules takes time.  

If you have already worked with swerve code before you might find the process of YAGSL configuration to be fairly easy,  and maybe take about 30 minutes + PID tuning. If you have never had a working swerve drive before it can take **weeks** to configure correctly and many many help requests. Everything will work but patience is a must! I try to document everything so be sure to check here for any questions you may have!

## As much as you hope, plead, pray, or offer sacrifices, a swerve drive will not always "Just work"

Some tools like the [CTRE Tuner X Swerve Generator](https://pro.docs.ctr-electronics.com/en/latest/docs/tuner/tuner-swerve/index.html) use desktop clients to configure the swerve drive constants file for you based off of actions and preset data from COTS modules. These go a long way and are completely different that what YAGSL offers (and is a lot more work than I can justify to create in my free time). You are going to need a decent understanding of WPILib and Java to consider programming a swerve drive correctly. Some examples of what you should know how to do are change controllers from [`XboxController`](https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj/XboxController.html) to [`Joystick`](https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj/Joystick.html).