From Controller to Action

Team 1757 standardizes controller input handling through operatorinterface.py and binds those inputs to commands in robotcontainer.py. The default drive command uses processed joystick axes (with deadband, inversion, and shaping) and supports field-relative driving with alliance-aware rotation.

Input Processing Pipeline

flowchart LR
    A[Raw Joystick Axes] --> B[Deadband]
    B --> C[Invert]
    C --> D[SignSquare/Nonlinear Shaping]
    D --> E[Callable Accessors]
    E --> F[Commands]

OperatorInterface (OI)

class OperatorInterface:
    class Drive:
        class ChassisControls:
            class Translation:
                y = SignSquare(Invert(Deadband(ControlAxis(0, 1)(), kXboxJoystickDeadband)))
                x = SignSquare(Invert(Deadband(ControlAxis(0, 0)(), kXboxJoystickDeadband)))
            class Rotation:
                y = Invert(Deadband(ControlAxis(1, 1)(), kXboxJoystickDeadband))
                x = Invert(Deadband(ControlAxis(1, 0)(), kXboxJoystickDeadband))

Default Drive Command

self.drive.setDefaultCommand(
    AbsoluteRelativeDrive(
        self.drive,
        lambda: OperatorInterface.Drive.ChassisControls.Translation.y() * kTurboSpeedMultiplier,
        lambda: OperatorInterface.Drive.ChassisControls.Translation.x() * kTurboSpeedMultiplier,
        OperatorInterface.Drive.ChassisControls.Rotation.x,
        OperatorInterface.Drive.ChassisControls.Rotation.y,
    )
)

Field-relative chassis control using alliance-aware orientation
Rotation target determined by right-stick vector using atan2(x, y)
Rotation PID tracks driver-indicated heading
Defense state when inputs are within deadband

Button/Trigger Bindings

def configureButtonBindings(self):
    OperatorInterface.Drive.align_angle().whileTrue(
        AngleAlignDrive(
            self.drive,
            lambda: OperatorInterface.Drive.ChassisControls.Translation.y() * kNormalSpeedMultiplier,
            lambda: OperatorInterface.Drive.ChassisControls.Translation.x() * kNormalSpeedMultiplier,
        ).repeatedly()
    )

    OperatorInterface.Drive.reset_gyro().onTrue(ResetDrive(self.drive, Pose2d(0, 0, 0)))

    OperatorInterface.Drive.defense_state().whileTrue(DefenseState(self.drive))

Driving Modes

FieldRelative: Translation relative to the field, rotation follows driver stick heading
RobotRelative: Translation in robot coordinates (used in DriveDistance)
DefenseState: Locks modules to X pattern when idle for stability

Best Practices

Centralize input processing in OperatorInterface
Use lambdas for live sampling of controller values
Apply deadbands and shaping consistently
Keep drive command alliance-aware for intuitive control

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