> 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/our-features/module-auto-synchronization.md).

# Module Auto-synchronization

YAGSL will automatically synchronize the absolute encoders and internal encoders of the angle/steering/azimuth motor controllers everytime the module is at rest for half-a-second if the delta between the internal encoder and absolute encoder is greater than the deadband.

This is configurable via `SwerveDrive.setModuleEncoderAutoSynchronize(bool, double)` where the first parameter is the enabled state and second is the deadband in degrees.