What we do

We make your swerve drive run!

Where does YAGSL fit into my program?

YAGSL essentially boils down to one class SwerveDrive which aims to act like DifferentialDrive from WPILib except for Swerve Drives.

Diagram Depicting a Drive Subsystem and where SwerveDrivefits into one. (created by DeltaDizzy)

Goals of this guide

• Teach the fundamentals of a SwerveDrive and SwerveModules so you could program it yourself if you desire or modify YAGSL.

• Guide you through setting up a YAGSL project based off of the example.

• Your program will be capable of the following with this guide

  • Autonomous (with PathPlanner + integrated commands)

  • Swerve Drive teleop code.