Hello! Another YAGSL question here: My team is using YAGSL for SDS Mk4i swerves, CANandCoders, and a Pigeon2. We just got the new Neo Vortexes, and our updated motor configuration is a NEO Vortex/Sparkflex as the drive motor and a Sparkmax, Canandcoder, and NEO 1.1’s for the angle. We tried driving in Teleop, but the swerves jittered when I tried to turn and then they wouldn’t stop jittering. We had time to try the first 3 steps of the 8 Steps guide but with no luck. We also just switched to the Pigeon2 from a NavX, but when we put the Navx back on for testing, the same problem was still there, making me think the problem is with the Vortex and Sparkflexes. Here is our code. Does anyone have a YAGSL working config for NEO Vortexes and Sparkflexes or any suggestions? Thanks!
Yoinked 
I have not personally worked with the SparkFlex controllers yet, so I can’t speak to that part of it. I would walk through the rest of the 8 steps before exploring too many more options (now formally documented here! The eight steps - YAGSL).
I would also check that whatever gyro you have attached is CCW+, and that your wheels are CCW+. Probably worth reading through these pages as well:
Think we are having same issue. We think it is with the spark flex config and steering is not getting inverted when it should and thus the jittering.
Thanks, we will try this at the next meeting!
It sounds like your having similar issues to what I faced when I first tried getting vortex/flex drivebase working with YAGSL. Make sure you aren’t using any deprecated code, and that your RevLib is updated to 2024 in your vendordep. And looking through this Discord post should be of some help. If you’re not in the server, join it here
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