How can we create a Swerve Diagnostics program with YAGSL Swerve?

Technical Programming
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Hello! For the upcoming season, our team is trying to create a “Swerve Diagnostics program” Allowing us to detect issues and breaks in the swerve drive before each match in competition. One thing to consider is that we use YAGSL, which does not immediately give us direct access to the motors.
In the past, we have created a command to work through the YAGSL system and directly set the drive and azimuth motors to full power. From there, we check the output speed and current of each.

Are there any suggestions on a more in depth and accurate system + potentially simpler code using YAGSL? Thanks!

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There is probably nothing simpler than using YAGSL. There is a supported way of grabbing the motors and I do accept PR’s if you want to modify wrappers, however status of each motor controller varies wildly. So there isn’t much you can do. Have you thought about how you would find these errors?