# Flowcharts

## Swerve Drive Diagram

<figure><img src="/files/mI3Vo1gWfvt34By0CQQR" alt=""><figcaption></figcaption></figure>

## Things to note

{% hint style="danger" %}
Older gyroscope's like the Pigeon 1 and NavX 1 experience drift the longer they are on. Consider rebooting or zeroing your gyroscope at the start of your program.
{% endhint %}

## Swerve Modules

### Swerve modules spinning "out of control"

<figure><img src="/files/CySTKRsy5X7hxW1ha2hg" alt=""><figcaption></figcaption></figure>

## Swerve Module does not spin correctly.

I will add a flow chart for this later but essentially its.

1. Are the CAN ID's, motor types, and absolute encoder types correct?
2. Are the module locations correct?
3. Do you use an absolute magnetic encoder
   1. Did you loctite your magnet in
   2. Do you have a good (green LED normally) reading on the magnet.
4. Did you set the absolute encoder offset while the wheels had the bevel facing the left and wheels straight front to back.
5. Did you check [When to invert?](/configuring-yagsl/when-to-invert.md) for inversion states?
6. Did you tune your PID?

## Swerve Drive "spins out of control"

<figure><img src="/files/CWWS4QDyhOtVuhEZpkk6" alt=""><figcaption></figcaption></figure>


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