DRIVING WORKS FIELD RELATIVE NO PROBLEMS

src/main/java/frc4388/utility/controller/DeadbandedXboxController.java

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+package frc4388.utility.controller;
+
+import static frc4388.robot.Constants.OIConstants.LEFT_AXIS_DEADBAND;
+
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.wpilibj.XboxController;
+import frc4388.robot.Constants.OIConstants;
+
+public class DeadbandedXboxController extends XboxController {
+  public DeadbandedXboxController(int port) { super(port); }
+  
+  @Override public double getLeftX() { return getLeft().getX(); }
+  @Override public double getLeftY() { return getLeft().getY(); }
+  @Override public double getRightX() { return getRight().getX(); }
+  @Override public double getRightY() { return getRight().getY(); }
+
+  public Translation2d getLeft() { return skewToDeadzonedCircle(super.getLeftX(), super.getLeftY()); }
+  public Translation2d getRight() { return skewToDeadzonedCircle(-super.getRightX(), super.getRightY()); }
+
+  public static Translation2d skewToDeadzonedCircle(double x, double y) {
+    Translation2d translation2d = new Translation2d(x, y);
+    double magnitude = translation2d.getNorm();
+    if (OIConstants.SKEW_STICKS && magnitude >= 1) return translation2d.div(magnitude);
+    if (magnitude < LEFT_AXIS_DEADBAND) return new Translation2d(0,0);
+    return translation2d;
+  }
+}