> For the complete documentation index, see [llms.txt](https://yams.yassrobotics.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://yams.yassrobotics.com/api-reference/java-reference/swerve/swerve-drive-config.md). # SwerveDriveConfig **Package:** `yams.mechanisms.config`\ **C++ equivalent:** [C++ SwerveDriveConfig](/api-reference/c++-reference/swerve/swerve-drive-config.md) Configures a complete swerve drivetrain. Takes a `Subsystem` and a varargs array of `SwerveModule` objects, one per module. ## Constructor ```java SwerveDriveConfig(Subsystem swerveSubsystem, SwerveModule... modules) ``` | Parameter | Type | Description | | ----------------- | ----------------- | ---------------------------------------------------------------------------------------------------- | | `swerveSubsystem` | `Subsystem` | The subsystem that owns this drivetrain. Used for command requirements. | | `modules` | `SwerveModule...` | One module per corner, in the order: front-left, front-right, back-left, back-right (by convention). | Use the no-arg constructor plus `withSubsystem(Subsystem)` and `withModules(SwerveModule...)` when the modules aren't available yet at construction time. All builder methods return `SwerveDriveConfig` for chaining. *** ## Builder Methods | Method | Parameters | Description | | ------------------------------------------------------------------------- | -------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | `withSubsystem(Subsystem subsystem)` | `subsystem` | Sets the owning subsystem (use with the no-arg constructor). | | `withModules(SwerveModule... modules)` | `modules` | Sets the swerve modules for the drive. | | `withGyro(Supplier gyro)` | `gyro`: yaw angle supplier | **Required.** Provides robot heading for field-relative control and odometry. | | `withGyroOffset(Angle offset)` | `offset` | Offset subtracted from the raw gyro reading in `getGyroAngle()`. | | `withGyroInverted(boolean inverted)` | `inverted` | Negates the raw gyro angle when `true`. | | `withGyroVelocity(Supplier supplier)` | `supplier` | Supplies gyro angular velocity. Required for angular-velocity skew correction. | | `withStartingPose(Pose2d pose)` | `pose` | Initial odometry pose. Defaults to the origin. | | `withMaximumChassisSpeed(LinearVelocity speed, AngularVelocity rotSpeed)` | `speed`, `rotSpeed` | Maximum translational and rotational speeds used for wheel-speed desaturation. | | `withMaximumModuleSpeed(LinearVelocity speed)` | `speed` | Maximum module speed used for wheel-speed desaturation. | | `withCenterOfRotation(Translation2d centerOfRotation)` | `centerOfRotation` | Overrides the chassis center of rotation (default is the robot center). | | `withCenterOfRotation(Distance forward, Distance left)` | `forward`, `left` | Overrides the center of rotation via forward/left distances. | | `withDiscretizationTime(Time dt)` | `dt` | Discretization timestep used to compensate for `ChassisSpeeds` skew. | | `withSimDiscretizationTime(Time dt)` | `dt` | Discretization timestep used only in simulation. Falls back to `withDiscretizationTime` if unset. | | `withGyroAngularVelocityScaleFactor(double scaleFactor)` | `scaleFactor` | Scale factor `[0, 1]` applied to gyro angular velocity for skew correction on the real robot. | | `withSimGyroAngularVelocityScaleFactor(double scaleFactor)` | `scaleFactor` | Scale factor used only in simulation. Falls back to `withGyroAngularVelocityScaleFactor` if unset. | | `withTranslationController(PIDController controller)` | `controller` | PID controller for autonomous translation corrections (`DriveToPose`). | | `withRotationController(PIDController controller)` | `controller` | PID controller for autonomous rotation corrections (`DriveToPose`). | | `withSimTranslationController(PIDController controller)` | `controller` | Translation controller used only in simulation. Falls back to `withTranslationController` if unset. | | `withSimRotationController(PIDController controller)` | `controller` | Rotation controller used only in simulation. Falls back to `withRotationController` if unset. | | `withTelemetry(String name, TelemetryVerbosity verbosity)` | `name`, `verbosity` | Sets the telemetry name (NetworkTables/DataLog prefix, defaults to `"swerve"`) and verbosity for drive-level fields (pose, gyro, chassis speeds, module states, auto-align PID gains) in one call. | | `withTelemetry(String name, SwerveDriveTelemetryConfig telemetryConfig)` | `name`, `telemetryConfig` | Sets the telemetry name and configures telemetry with an explicit [`SwerveDriveTelemetryConfig`](/api-reference/java-reference/swerve/swerve-drive.md#telemetry--datalog), taking precedence over the verbosity-based overload. | {% hint style="info" %} Both overloads require a name; there is no name-less `withTelemetry(...)` or standalone `withTelemetryName(...)` on `SwerveDriveConfig` (unlike, say, `SmartMotorControllerConfig`). {% endhint %} {% hint style="info" %} `withGyro` is required. Omitting it will prevent field-relative control and odometry from functioning correctly. {% endhint %} *** ## DataLog Telemetry `SwerveDriveConfig` itself has no `withDataLogName(...)` method: DataLog output is configured on a [`SwerveDriveTelemetryConfig`](/api-reference/java-reference/swerve/swerve-drive.md#telemetry--datalog) and wired in via `withTelemetry(String name, SwerveDriveTelemetryConfig)`: ```java SwerveDriveConfig config = new SwerveDriveConfig(this, frontLeft, frontRight, backLeft, backRight) .withGyro(() -> Degrees.of(m_gyro.getYaw().getValueAsDouble())) .withTelemetry("swerve", new SwerveDriveTelemetryConfig(TelemetryVerbosity.HIGH) .withDataLogName("swerve")); // logs pose, gyro, chassis speeds, module states ``` `SwerveDriveTelemetryConfig(TelemetryVerbosity)` is shorthand for `new SwerveDriveTelemetryConfig().withTelemetryVerbosity(verbosity)`. {% hint style="warning" %} `withTelemetry(name, SwerveDriveTelemetryConfig)` replaces the default field selection entirely; if you pass a config, call `withTelemetryVerbosity(...)` (or the individual `with*()` field methods) on it yourself, since a bare `new SwerveDriveTelemetryConfig()` has every field disabled. This DataLog name does **not** cascade to the modules passed to the constructor, or to those modules' drive/azimuth motors. Each `SwerveModuleConfig` needs its own telemetry setup (see [SwerveModuleConfig](/api-reference/java-reference/swerve/swerve-module-config.md#datalog-telemetry)), and each motor's `SmartMotorControllerConfig` needs its own `withTelemetry(name, SmartMotorControllerTelemetryConfig)` for field-level control and its own DataLog name. {% endhint %} *** ## Example ```java SwerveDriveConfig config = new SwerveDriveConfig(this, frontLeft, frontRight, backLeft, backRight) .withGyro(() -> Degrees.of(m_gyro.getYaw().getValueAsDouble())) .withMaximumChassisSpeed(MetersPerSecond.of(4.5), RadiansPerSecond.of(Math.PI * 2)) .withTranslationController(new PIDController(1, 0, 0)) .withRotationController(new PIDController(1, 0, 0)) .withTelemetry("swerve", new SwerveDriveTelemetryConfig(TelemetryVerbosity.HIGH) .withDataLogName("swerve")); ``` *** ## See Also * [C++ SwerveDriveConfig](/api-reference/c++-reference/swerve/swerve-drive-config.md) * [SwerveDrive](/api-reference/java-reference/swerve/swerve-drive.md) * [SwerveModuleConfig](/api-reference/java-reference/swerve/swerve-module-config.md)