YAGSL is intended to be an easy implementation of a generic swerve drive that should work for most square swerve drives. The project is documented on here.
This example is intended to be a starting place on how to use YAGSL. 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.
We will be actively montoring this and fix any issues when we can!