# YAGSL ## YAGSL - [Welcome to Yet Another Swerve Document](https://docs.yagsl.com/readme.md): Brought to you by Yet Another Generic Swerve Library (YAGSL) - [Resources](https://docs.yagsl.com/readme/resources.md) - [What we do](https://docs.yagsl.com/overview/what-we-do.md): We make your swerve drive run! - [Our Features](https://docs.yagsl.com/overview/our-features.md) - [Telemetry](https://docs.yagsl.com/overview/our-features/telemetry.md) - [Simulation](https://docs.yagsl.com/overview/our-features/simulation.md): YAGSL-Example provides simulation out of the box! - [Lock Pose](https://docs.yagsl.com/overview/our-features/lock-pose.md): YAGSL has a helper for that! - [Max Speed](https://docs.yagsl.com/overview/our-features/max-speed.md): This one is a bit complicated - [Chassis Speed Discretization](https://docs.yagsl.com/overview/our-features/chassis-speed-discretization.md): More math... - [Vision Odometry](https://docs.yagsl.com/overview/our-features/vision-odometry.md): YAGSL handles odometry for you and extends it so you can add whatever data you want! - [Heading Correction](https://docs.yagsl.com/overview/our-features/heading-correction.md) - [Auto-centering Modules](https://docs.yagsl.com/overview/our-features/auto-centering-modules.md): Auto-centering modules could cause some unwanted jitter which is why it is disabled by default! - [Offset Offloading](https://docs.yagsl.com/overview/our-features/offset-offloading.md): This is only supported on some motor controllers! - [Cosine Compensation](https://docs.yagsl.com/overview/our-features/cosine-compensation.md): This is helpful, sometimes - [Module Auto-synchronization](https://docs.yagsl.com/overview/our-features/module-auto-synchronization.md) - [Angular Velocity Compensation](https://docs.yagsl.com/overview/our-features/angular-velocity-compensation.md) - [Changelog](https://docs.yagsl.com/overview/changelog.md) - [Swerve Drive](https://docs.yagsl.com/fundamentals/swerve-drive.md): How does Swerve Drive work? - [Swerve Modules](https://docs.yagsl.com/fundamentals/swerve-modules.md): What is a Swerve Module? - [Preface](https://docs.yagsl.com/bringing-up-swerve/preface.md) - [Swerve Information](https://docs.yagsl.com/bringing-up-swerve/swerve-information.md) - [Check your gyroscope](https://docs.yagsl.com/bringing-up-swerve/check-your-gyroscope.md) - [Check your motors](https://docs.yagsl.com/bringing-up-swerve/check-your-motors.md) - [Creating your first configuration](https://docs.yagsl.com/bringing-up-swerve/creating-your-first-configuration.md) - [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) - [Gyroscope](https://docs.yagsl.com/devices/gyroscope.md) - [NavX](https://docs.yagsl.com/devices/gyroscope/navx.md): Calibrating a NavX 2 - [Pigeon](https://docs.yagsl.com/devices/gyroscope/pigeon.md) - [Pigeon 2.0](https://docs.yagsl.com/devices/gyroscope/pigeon-2.0.md) - [ADXRS450](https://docs.yagsl.com/devices/gyroscope/adxrs450.md) - [ADIS16448](https://docs.yagsl.com/devices/gyroscope/adis16448.md) - [ADIS16470](https://docs.yagsl.com/devices/gyroscope/adis16470.md) - [Motor Controllers](https://docs.yagsl.com/devices/motor-controllers.md) - [SparkMAX](https://docs.yagsl.com/devices/motor-controllers/sparkmax.md) - [SparkFlex](https://docs.yagsl.com/devices/motor-controllers/sparkflex.md) - [TalonFX](https://docs.yagsl.com/devices/motor-controllers/talonfx.md) - [Absolute Encoders](https://docs.yagsl.com/devices/absolute-encoders.md) - [FRC Web Components](https://docs.yagsl.com/analytics-and-debugging/frc-web-components.md) - [Advantage Scope](https://docs.yagsl.com/analytics-and-debugging/advantage-scope.md): Advantage Scope is a data visualization tool, courtesy of team 6328 Mechanical Advantage, which can visualize the Swerve Drive to give you feedback for debugging. - [Documentation](https://docs.yagsl.com/legacy-documentation/documentation.md) - [JSON](https://docs.yagsl.com/legacy-documentation/documentation/json.md) - [Swerve Drive](https://docs.yagsl.com/legacy-documentation/documentation/swerve-drive.md) - [Swerve Module](https://docs.yagsl.com/legacy-documentation/documentation/swerve-module.md) - [Swerve Module Physical Properties](https://docs.yagsl.com/legacy-documentation/documentation/swerve-module-physical-properties.md) - [Swerve Module PIDF Properties](https://docs.yagsl.com/legacy-documentation/documentation/swerve-module-pidf-properties.md) - [Controller Properties](https://docs.yagsl.com/legacy-documentation/documentation/controller-properties.md) - [Tested configurations](https://docs.yagsl.com/legacy-documentation/documentation/tested-configurations.md) --- # Agent Instructions This documentation is published with GitBook. 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