# Overview - [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) --- # 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/overview.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.