> For the complete documentation index, see [llms.txt](https://yams.yassrobotics.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://yams.yassrobotics.com/api-reference/java-reference/swerve/swerve-input-stream.md). # SwerveInputStream **Package:** `yams.mechanisms.swerve.utility` Converts raw joystick axis values into `ChassisSpeeds` for swerve drive control. Handles deadbands, cubic input curves, axis scaling, alliance-relative flipping, and multiple drive modes (angular-velocity, heading-snap, translation-only, aim-at-target). Implements `Supplier` so it can be passed directly wherever a `ChassisSpeeds` supplier is expected. *** ## Constructors Three ways to construct a `SwerveInputStream`: ```java // Variant 1: with a rotation axis (angular-velocity mode) new SwerveInputStream(SwerveDrive drive, DoubleSupplier x, DoubleSupplier y, DoubleSupplier rot) // Variant 2: with heading axes (heading-angle mode) new SwerveInputStream(SwerveDrive drive, DoubleSupplier x, DoubleSupplier y, DoubleSupplier headingX, DoubleSupplier headingY) // Static factory: translation only, add rotation later with withControllerRotationAxis() // or withControllerHeadingAxis() SwerveInputStream.of(SwerveDrive drive, DoubleSupplier x, DoubleSupplier y) ``` | Parameter | Type | Description | | ---------- | ---------------- | --------------------------------------------------------------------------------- | | `drive` | `SwerveDrive` | The drivetrain instance. Used for heading reference, pose estimation, and config. | | `x` | `DoubleSupplier` | Forward/back axis in range `[-1, 1]`. Positive is forward. | | `y` | `DoubleSupplier` | Left/right axis in range `[-1, 1]`. Positive is left. | | `rot` | `DoubleSupplier` | Rotation axis in range `[-1, 1]`. Used for angular-velocity control. | | `headingX` | `DoubleSupplier` | Heading X component in range `[-1, 1]`. Used for heading-angle control. | | `headingY` | `DoubleSupplier` | Heading Y component in range `[-1, 1]`. Used for heading-angle control. | *** ## Builder Methods All builder methods return `SwerveInputStream` for chaining. ### Velocity Limits | Method | Parameters | Description | | ------------------------------------------------------ | ---------- | ---------------------------------------------------------- | | `withMaximumLinearVelocity(LinearVelocity velocity)` | `velocity` | Maximum chassis translational speed. Default is 4 m/s. | | `withMaximumAngularVelocity(AngularVelocity velocity)` | `velocity` | Maximum chassis rotational speed. Default is 1 rotation/s. | {% hint style="info" %} A stream copies `SwerveDriveConfig.withMaximumChassisSpeed(...)`'s value (if set) into its own maximum fields once, at construction time; otherwise it starts from its own defaults (4 m/s, 1 rotation/s). Calling `withMaximumLinearVelocity(...)`/`withMaximumAngularVelocity(...)` afterward overrides that value for this stream and takes effect immediately; the drive's config is not re-checked after construction. {% endhint %} ### Axis Configuration | Method | Parameters | Description | | ----------------------------------------------------------------------------- | --------------------------------------- | ------------------------------------------------------------------------------------------------------------------------- | | `withControllerRotationAxis(DoubleSupplier rot)` | `rot`: range `[-1, 1]` | Set or replace the rotation axis supplier after construction. Enables angular-velocity mode. | | `withControllerHeadingAxis(DoubleSupplier headingX, DoubleSupplier headingY)` | `headingX`, `headingY`: range `[-1, 1]` | Set or replace the heading axis suppliers after construction. Enables heading mode when `withHeadingControl()` is active. | | `withDeadband(double deadband)` | `deadband`: 0.0 to 1.0 | Deadband applied to all axes before scaling. Inputs below this magnitude are treated as zero. | | `withScaleTranslation(double scale)` | `scale`: range `(0, 1]` | Multiplies the translation output magnitude by `scale`. | | `withScaleRotation(double scale)` | `scale`: range `(0, 1]` | Multiplies the rotation axis value by `scale`. | ### Input Curves | Method | Parameters | Description | | ------------------------------------------------------------ | ---------- | ------------------------------------------------------------------------------------------- | | `withCubeTranslationControllerAxis()` | N/A | Applies a cubic curve to translation magnitude for finer low-speed control. Always enabled. | | `withCubeTranslationControllerAxis(BooleanSupplier enabled)` | `enabled` | Applies a cubic curve to translation magnitude when supplier returns `true`. | | `withCubeRotationControllerAxis()` | N/A | Applies a cubic curve to the rotation axis. Always enabled. | | `withCubeRotationControllerAxis(BooleanSupplier enabled)` | `enabled` | Applies a cubic curve to the rotation axis when supplier returns `true`. | ### Drive Modes | Method | Parameters | Description | | ----------------------------------------------------------- | ------------------- | -------------------------------------------------------------------------------------------------------- | | `withHeadingControl(BooleanSupplier trigger)` | `trigger` | Enables heading-angle control mode while trigger returns `true`. Requires `withControllerHeadingAxis()`. | | `withAim(Supplier target, BooleanSupplier trigger)` | `target`, `trigger` | Rotates the robot to face the target pose while translating. Enables AIM mode while trigger is `true`. | | `withTranslationOnly(BooleanSupplier trigger)` | `trigger` | Suppresses rotation and locks the current heading while trigger returns `true`. | ### Field Orientation | Method | Parameters | Description | | ------------------------------------------------------------------------- | ------------------ | -------------------------------------------------------------------------------------------------------------- | | `withAllianceRelativeControl()` | N/A | Flips the X axis when on the Red alliance so "forward" always points toward the opponent wall. Always enabled. | | `withAllianceRelativeControl(BooleanSupplier enabled)` | `enabled` | Alliance-relative control when supplier returns `true`. | | `withRobotRelative()` | N/A | Outputs robot-relative `ChassisSpeeds` instead of field-relative. Always enabled. | | `withRobotRelative(BooleanSupplier enabled)` | `enabled` | Robot-relative output when supplier returns `true`. | | `withTranslationHeadingOffset(Rotation2d angle)` | `angle` | Rotates the translation direction by `angle`. Always enabled. | | `withTranslationHeadingOffset(Rotation2d angle, BooleanSupplier enabled)` | `angle`, `enabled` | Rotates the translation direction by `angle` when supplier returns `true`. | ### Utility | Method | Parameters | Description | | --------- | ---------- | ----------------------------------------------------------------------------------------- | | `clone()` | N/A | Returns a copy of this stream. Subsequent changes to the copy do not affect the original. | *** ## Output Methods | Method | Returns | Description | | ------- | --------------- | ------------------------------------------------------------------------------------------------------------------------------------ | | `get()` | `ChassisSpeeds` | Computes and returns the current `ChassisSpeeds` based on all configured inputs and the active drive mode. Call once per robot loop. | *** ## SwerveInputMode Enum `SwerveInputStream` automatically selects the active drive mode each loop based on which suppliers are configured and active. | Value | Description | | ------------------ | --------------------------------------------------------------------------------------------------------------------------------------------------- | | `ANGULAR_VELOCITY` | Default. Rotates using the angular-velocity axis (`withControllerRotationAxis`). | | `HEADING` | Controls robot heading via right-stick X/Y angle. Active when `withHeadingControl()` trigger is `true` and heading axes are configured. | | `AIM` | Rotates to face a target `Pose2d`. Active when `withAim()` trigger is `true` and a target is set. | | `TRANSLATION_ONLY` | Suppresses rotation and holds the current heading. Active when `withTranslationOnly()` trigger is `true`, or when no rotation source is configured. | Mode priority (highest to lowest): `TRANSLATION_ONLY` > `AIM` > `HEADING` > `ANGULAR_VELOCITY`. {% hint style="info" %} An earlier `DRIVE_TO_POSE` mode (with a matching `atTargetPose(...)` method) has been removed from `SwerveInputStream`. Use [`SwerveDrive.driveToPose(...)`](/api-reference/java-reference/swerve/swerve-drive.md#auto-align-drive-to-pose) for auto-align instead. {% endhint %} *** ## Example ```java XboxController driver = new XboxController(0); // Angular-velocity stream: left stick translates, right stick X rotates SwerveInputStream driveInput = SwerveInputStream.of(swerveDrive, () -> -driver.getLeftY(), () -> -driver.getLeftX()) .withControllerRotationAxis(driver::getRightX) .withDeadband(0.05) .withScaleTranslation(0.8) .withScaleRotation(0.6) .withAllianceRelativeControl() .withCubeTranslationControllerAxis(); // Heading-snap variant: clone so changes don't affect the original SwerveInputStream headingInput = driveInput.clone() .withControllerHeadingAxis(driver::getRightX, driver::getRightY) .withHeadingControl(() -> driver.getRightStickButton()); // In a command or periodic, call get() to obtain ChassisSpeeds: swerveDrive.drive(driveInput.get()); ``` *** ## See Also * [SwerveDrive](/api-reference/java-reference/swerve/swerve-drive.md) * [C++ SwerveInputStream](/api-reference/c++-reference/swerve/swerve-input-stream.md)