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Auto-publish: training content update 2026-05-15 11:26:33

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2026-05-15 11:26:33 +00:00
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training/modules/yagsl.md
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@@ -306,15 +306,13 @@ See [[photonvision]] for the full AprilTag pipeline.
## Common Problems
| Problem | Likely Cause | Fix |
|----------|-------------|-----|
| Wheel spins backward | `inverted.drive` is wrong | Flip the boolean |
| Wheel steers wrong direction | `inverted.angle` is wrong | Flip the boolean |
| Robot drifts while driving straight | Encoder offset wrong, or angle PID not tuned | Re-verify offsets, then tune angle PID |
| Robot won't go straight on its own | No heading correction enabled | Use `swerveDrive.setHeadingCorrection(true)` |
| "Invalid year" vendordep error | YAGSL JSON has wrong FRC year | Update vendordep URL to current year |
| Modules don't align on startup | Offset not set or wrong CAN ID | Verify offsets and CAN IDs |
| Odometry doesn't match field | Module physical positions in JSON are wrong | Re-measure and update `location` fields |
- **Wheel spins backward** → `inverted.drive` is wrong. Flip the boolean.
- **Wheel steers wrong direction** → `inverted.angle` is wrong. Flip the boolean.
- **Robot drifts while driving straight** → Encoder offset wrong, or angle PID not tuned. Re-verify offsets, then tune angle PID.
- **Robot won't go straight on its own** → No heading correction enabled. Use `swerveDrive.setHeadingCorrection(true)`.
- **"Invalid year" vendordep error** → YAGSL JSON has wrong FRC year. Update vendordep URL to current year.
- **Modules don't align on startup** → Offset not set or wrong CAN ID. Verify offsets and CAN IDs.
- **Odometry doesn't match field** → Module physical positions in JSON are wrong. Re-measure and update `location` fields.
## 2026 Migration Notes