Wheel controller for FRC

[Poseidon5817]

Originally Posted by Ari423

How did you map the controls with the wheel and joystick for swerve? The only way I could think of is to have the joystick control change in field-centric position (Δx and Δy) and the steering wheel control change in rotation (Δr). If you have an infinite rotation steering wheel I could imagine the steering wheel controlling absolute position (r relative to the field). To me, neither of these seem more intuitive than an xbox controller. Is this how you set it up, or did you come up with a better way?

The joystick controlled robot-centric translation, and the wheel controlled either rotation in place, or rotation while driving as an arc (snake mode, car mode, or any of the other names people have called it)