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By no means is this intended to be the base of your robot project. YAGSL provides an easy way to generate a SwerveDrive which can be used in both TimedRobot and Command-Based Robot templates.

FRC Robot code for team 2106's 2025 robot - Guppy. Features TalonFX swerve drive, 3 stage elevator, and active angle intake all with Advantage Kit logging. Extensive simulation and auto capabilities ...