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Reference

Information-oriented lookup material: exact JSON field names/types, supported hardware, and the YAMS API surface YAGSL hands you. Come here when you already know what you're doing and need a precise answer. For step-by-step guidance see Tutorial or How-to Guides.

  • JSON Configuration Schema: every field in swervedrive.json, module files, physicalproperties.json, and pidfproperties.json.
  • Supported Hardware: gyro, motor controller, and absolute encoder type tables plus per-device notes.
  • Standard Conversion Factors: gear ratios/wheel diameters for common COTS swerve modules.
  • Vendordep Installation: the two YAGSL vendordeps (Commands v2 and Commands v3) and which vendor libraries you need for your hardware.
  • API Reference: the swervelib packages, the SwerveParser entry points, and where to find docs for SwerveDrive, SwerveModule, and friends (they're YAMS classes).
  • Schema Changes: migrating a 2026 project to YAGSL 2027, and migrating a pre-2026.8.05 swerve/ config directory.
  • Swerve Drive Drift: Causes and Tuning Order: hardware/software/config causes of drift, and the fixed order to tune them out.