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YAGSL

Yet Another Generic Swerve Library provides a robust base for swerve drive robots.

Setup​

  • Add YAGSL as a dependency and follow their module configuration guide.
  • Verify module offsets and wheel direction before driving.

Ironclad Guidance​

  • Wrap YAGSL in our Drivetrain subsystem.
  • Centralize kinematics/odometry and log pose to dashboards.