Package frc.robot.subsystems.swerve.util

Class TeleopControls

java.lang.Object

frc.robot.subsystems.swerve.util.TeleopControls

@NullMarked
public class TeleopControls
extends Object

Control scheme utilities for teleoperated swerve driving.

This class converts raw driver input signals (typically joystick axes) into ChassisSpeeds suitable for commanding a swerve drivetrain. Input processing includes deadbanding, non-linear shaping, and scaling to configured maximum translational and rotational speeds.

The resulting chassis speeds are intended to be consumed by higher-level drive commands (robot-relative or field-relative) rather than applied directly to hardware.

Constructor Summary

Constructors

Constructor	Description
TeleopControls()

Method Summary

Modifier and Type	Method	Description
static Supplier<ChassisSpeeds>	teleopControls(DoubleSupplier forward, DoubleSupplier right, DoubleSupplier turnCCW)	Creates a supplier that converts driver inputs into desired chassis speeds.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

TeleopControls

public TeleopControls()

Method Details

teleopControls

public static Supplier<ChassisSpeeds> teleopControls(DoubleSupplier forward,
 DoubleSupplier right,
 DoubleSupplier turnCCW)

Creates a supplier that converts driver inputs into desired chassis speeds.

The returned Supplier performs the following processing each time it is evaluated:

• Applies a configurable deadband to all input axes
• Applies non-linear shaping to translational inputs for finer low-speed control
• Scales translational and rotational inputs to configured maximum speeds

The produced ChassisSpeeds are expressed in a pseudo-field-relative frame, where:

• Forward input corresponds to positive X velocity
• Rightward input corresponds to positive Y velocity
• Counterclockwise input corresponds to positive angular velocity

This method does not perform true field-relative conversion; callers are expected to apply any required frame transformations using the robot's current heading.

Parameters:

forward - supplier providing the forward/backward driver input

right - supplier providing the left/right driver input

turnCCW - supplier providing the counterclockwise rotation input

Returns:

a supplier that generates processed ChassisSpeeds for teleop control