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.
Goals of this guide
Teach the fundamentals of a
SwerveDrive
andSwerveModule
s 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.
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