> For the complete documentation index, see [llms.txt](https://docs.yagsl.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.yagsl.com/overview.md).

# 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)