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Sketched Doughnut edited this page Sep 5, 2026 · 1 revision

Welcome to the swerve wiki!

Here you will find all information on setup, usage, and additonal features.

Setup

Our swerve code uses the YAGSL library, which sets up and configures the modules for us. For the most part, you will follow this guide:

However, there is one difference. At the end, when zeroing the modules, rotate the wheels such that when facing the robot from the front, the bevels on the wheels are facing towards the right of the robot and so that the wheels are parallel to the frame. Additionally, ensure that rotating the drive wheels CCW increases the encoder value for the drive wheel. Once the wheels are set, you can zero the encoders in your motor controller (for example, a Spark MAX). DO NOT ZERO THE ENCODERS IN THE YAGSL CONFIG! There is code in Drivetrain.kt which will apply a zero to each Spark MAX. You must set the zero values there.

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