What we do

YAGSL aims to simplify the implementation of swerve drive systems in robotics, making advanced mobility accessible to teams at all skill levels.

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.

Next Step!

• Ready to start with YAGSL? Head over to our Installation Guide to take the first step towards transforming your robotics project's mobility.