YAGSL
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    • Our Features
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  • Fundamentals
    • Swerve Drive
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  • 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
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    • Absolute Encoders
  • Analytics and Debugging
    • FRC Web Components
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  • Product Guides
    • Java API
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    • ❌Tuning PID with REV Hardware Client
    • ❌Drive Code
  • Legacy Documentation
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  • Drive straight
  • Rotate the robot

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  1. Configuring YAGSL

Verifying your Module Locations

Your front may not be what you think it is on a robot.

PreviousSparkMAX Common ProblemsNextTuning out Drift

Last updated 6 months ago

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After you have initially configured the robot with YAGSL you should test it on block to ensure the modules are facing the correct directions while in the air. You may need to around to ensure they are doing what the robot program thinks they're doing.

Drive straight

The first test it to command the robot to drive straight. The modules are supposed to look like this in real life and in Elastic,, or.

If it doesnt look like this in real life than you need to change the offending modules to match this.

Rotate the robot

Your robot should rotate CCW+ but for the verification step after confirming your modules are driving straight. As long as the robot appears to be doing either one of these while attempting to rotate you should be fine.

The depiction on the left would require you running through since your translational axis changes based off your robots heading.

the eight steps
swap the modules
FRC Web Components
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