Yet Another Generic Swerve Library (YAGSL)

Yet Another Generic Swerve Library (also known as YAGSL) is a Generic Swerve Library that aims to simplify the process of creating a comprehensive and complete SwerveDrive’s with best practices from MANY SwerveDrive examples.

The documentation wiki can be found here, an example project here, and the library here.

To learn more, visit our thread on Chief Delphi.

YAGSL is currently utilized by over 250 teams in 11 countries!

The map above (updated 11/19/24) shows the teams who are currently documented to use YAGSL for their FRC program. To be added to this list, email rylee.lippenholz@broncbotz.org.