# swervelib
declaration: package: swervelib

# Package swervelib

package swervelib
Yet-Another Generic Swerve Library (YAGSL) main package AKA swervelib.

Related Packages
Package
Description
swervelib.encoders
Absolute encoders for the swerve drive, all implement `SwerveAbsoluteEncoder`.
swervelib.imu
IMUs used for controlling the robot heading.
swervelib.math
Mathematics for swerve drives.
swervelib.motors
Swerve motor controller wrappers which implement `SwerveMotor`.
swervelib.parser
JSON Parser for YAGSL configurations.
swervelib.simulation
Classes used to simulate the swerve drive.
swervelib.telemetry
Telemetry package for sending data to NT4 or SmartDashboard.
Classes
Class
Description
SwerveController
Controller class used to convert raw inputs into robot speeds.
SwerveDrive
Swerve Drive class representing and controlling the swerve drive.
SwerveModule
The Swerve Module class which represents and controls Swerve Modules for the swerve drive.