# Configuring YAGSL - [Getting to know your robot](https://docs.yagsl.com/configuring-yagsl/getting-to-know-your-robot.md) - [Dependency Installation](https://docs.yagsl.com/configuring-yagsl/dependency-installation.md) - [Configuration](https://docs.yagsl.com/configuring-yagsl/configuration.md) - [Swerve Drive Configuration](https://docs.yagsl.com/configuring-yagsl/configuration/swerve-drive-configuration.md) - [Physical Properties Configuration](https://docs.yagsl.com/configuring-yagsl/configuration/physical-properties-configuration.md) - [PIDF Properties Configuration](https://docs.yagsl.com/configuring-yagsl/configuration/pidf-properties-configuration.md) - [PIDF](https://docs.yagsl.com/configuring-yagsl/configuration/pidf-properties-configuration/pidf.md) - [Swerve Module Configuration](https://docs.yagsl.com/configuring-yagsl/configuration/swerve-module-configuration.md) - [Controller Properties Configuration](https://docs.yagsl.com/configuring-yagsl/configuration/controller-properties-configuration.md) - [Device Configuration](https://docs.yagsl.com/configuring-yagsl/configuration/device-configuration.md) - [Code Setup](https://docs.yagsl.com/configuring-yagsl/code-setup.md) - [Standard Conversion Factors](https://docs.yagsl.com/configuring-yagsl/standard-conversion-factors.md) - [How to tune PIDF](https://docs.yagsl.com/configuring-yagsl/how-to-tune-pidf.md) - [When to invert?](https://docs.yagsl.com/configuring-yagsl/when-to-invert.md) - [Flowcharts](https://docs.yagsl.com/configuring-yagsl/flowcharts.md) - [The eight steps](https://docs.yagsl.com/configuring-yagsl/the-eight-steps.md) - [Swerve Drive Drift](https://docs.yagsl.com/configuring-yagsl/swerve-drive-drift.md): Drift can be caused by anything and everything in a swerve drive... - [SparkMax and SparkFlex Common Problems](https://docs.yagsl.com/configuring-yagsl/sparkmax-common-problems.md): These usually show up in MAXSwerve robots.. - [Verifying your Module Locations](https://docs.yagsl.com/configuring-yagsl/verifying-your-module-locations.md): Your front may not be what you think it is on a robot. - [Tuning out Drift](https://docs.yagsl.com/configuring-yagsl/tuning-out-drift.md) --- # Agent Instructions: Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. Perform an HTTP GET request on the current page URL with the `ask` query parameter: ``` GET https://docs.yagsl.com/configuring-yagsl.md?ask= ``` The question should be specific, self-contained, and written in natural language. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.