SUMMARY.md

Table of contents

• Welcome to Yet Another Swerve Document

Overview

• What we do
• Our Features
  • Telemetry
  • Simulation
  • Lock Pose
  • Max Speed
  • Chassis Speed Discretization
  • Vision Odometry
  • Heading Correction
  • Auto-centering Modules
  • Offset Offloading
  • Cosine Compensation
  • Module Auto-synchronization
  • Angular Velocity Compensation
• Changelog
• Java API
• Example Code
• Config Generator
• 💸 Donations
• 👕 Merch
• Discord

Fundamentals

• Swerve Drive
• Swerve Modules

Bringing up swerve

• Preface
• Swerve Information
• Check your gyroscope
• Check your motors
• Creating your first configuration

Configuring YAGSL

• Getting to know your robot
  • Gear Ratio
• Dependency Installation
• Configuration
  • Swerve Drive Configuration
  • Physical Properties Configuration
  • PIDF Properties Configuration
    • PIDF
  • Swerve Module Configuration
  • Controller Properties Configuration
  • Device Configuration
• Code Setup
• Standard Conversion Factors
• How to tune PIDF
• When to invert?
• Flowcharts
• The eight steps
• Swerve Drive Drift
• SparkMAX Common Problems
• Verifying your Module Locations

Devices

• Gyroscope
  • NavX
  • Pigeon
  • Pigeon 2.0
  • ADXRS450
  • ADIS16448
  • ADIS16470
• Motor Controllers
  • SparkMAX
  • SparkFlex
  • TalonFX
• Absolute Encoders

Analytics and Debugging

• FRC Web Components
• Advantage Scope

Product Guides

• Java API
• PathPlanner
• ❌ Tuning PID with REV Hardware Client
• ❌ Drive Code

Legacy Documentation

• Documentation
  • JSON
  • Swerve Drive
  • Swerve Module
  • Swerve Module Physical Properties
  • Swerve Module PIDF Properties
  • Controller Properties
  • Tested configurations