# Angular Velocity Compensation YAGSL utilizes a method pioneered by Jack-in-the-bot for angular velocity compensation. To enable this you would use `SwerveDrive.setAngularVelocityCompensation(true, true, 0.1);` where the first parameter is the enabled state in teleop, second is enabled in autonomous, and third is the coefficient to use. When enabling for the first time if the skew is significantly worse try inverting the value. 1. Tune by moving in a straight line while rotating. * Testing is best done with angular velocity controls on the right stick. 2. Change the value until you are visually happy with the skew. 3. Ensure your tune works with different translational and rotational magnitudes. 4. If this reduces skew in teleop, it may improve auto. Created by [**yapplejack**](https://github.com/yapplejack) **in PR**[ **#231**](https://github.com/BroncBotz3481/YAGSL-Example/pull/231) --- # 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/our-features/angular-velocity-compensation.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.