simplify control logic and default sprint mode

the values for sprint mode are tentative as they rely on swerve and driveteam testing

src/main/java/frc/robot/RobotContainer.java

@@ -125,11 +125,13 @@ public RobotContainer() {
 
   private void configureButtonBindings() {
     m_drive.setDefaultCommand(
-        DriveCommandFactory.joystickDrive(
+        DriveCommandFactory.sprintJoystickDrive(
             m_drive,
             () -> -controller.getLeftY(),
             () -> -controller.getLeftX(),
             () -> -controller.getRightX(),
+            controller.getHID()::getRightBumper,
+            0.5,
             0.1));
     controller.x().onTrue(Commands.runOnce(m_drive::stopWithX, m_drive));
   }

src/main/java/frc/robot/commands/drive/DriveCommandFactory.java

@@ -51,20 +51,28 @@ public static Command joystickDrive(
 
     return Commands.run(
         () -> {
-          double x_val = xSupplier.getAsDouble() * xCoefficient.get();
-          double y_val = ySupplier.getAsDouble() * yCoefficient.get();
-          double omega_val = omegaSupplier.getAsDouble() * omegaCoefficient.get();
-
-          double x =
-              Math.copySign(
-                  Math.min(Math.pow(MathUtil.applyDeadband(x_val, deadband), 2), 1.0), x_val);
-          double y =
-              Math.copySign(
-                  Math.min(Math.pow(MathUtil.applyDeadband(y_val, deadband), 2), 1.0), y_val);
-          double omega =
-              Math.copySign(
-                  Math.min(Math.pow(MathUtil.applyDeadband(omega_val, deadband), 2), 1.0),
-                  omega_val);
+          double x_val = MathUtil.applyDeadband(xSupplier.getAsDouble(), deadband);
+          double y_val = MathUtil.applyDeadband(ySupplier.getAsDouble(), deadband);
+          double omega_val = MathUtil.applyDeadband(omegaSupplier.getAsDouble(), deadband);
+
+          double x = 0.0;
+          double y = 0.0;
+          double omega = 0.0;
+
+          if (x_val != 0) {
+            x_val = x_val * xCoefficient.get();
+            x = Math.copySign(Math.min(Math.pow(x_val, 2), 1.0), x_val);
+          }
+
+          if (y_val != 0) {
+            y_val = y_val * yCoefficient.get();
+            y = Math.copySign(Math.min(Math.pow(y_val, 2), 1.0), y_val);
+          }
+
+          if (omega_val != 0) {
+            omega_val = omega_val * omegaCoefficient.get();
+            omega = Math.copySign(Math.min(Math.pow(omega_val, 2), 1.0), omega_val);
+          }
 
           driveBase.runVelocity(toFieldRelative(x, y, omega));
         },
@@ -94,23 +102,34 @@ public static Command sprintJoystickDrive(
 
     return Commands.run(
         () -> {
-          double x_val = xSupplier.getAsDouble() * xCoefficient.get() * maxNonSprintSpeed;
-          double y_val = ySupplier.getAsDouble() * yCoefficient.get() * maxNonSprintSpeed;
-          double omega_val = omegaSupplier.getAsDouble() * omegaCoefficient.get();
-
-          double sprintVal = sprintSupplier.getAsBoolean() ? 0.5 : 0.0;
-          double x =
-              Math.copySign(
-                  Math.min(Math.pow(MathUtil.applyDeadband(x_val, deadband), 2) + sprintVal, 1.0),
-                  x_val);
-          double y =
-              Math.copySign(
-                  Math.min(Math.pow(MathUtil.applyDeadband(y_val, deadband), 2) + sprintVal, 1.0),
-                  y_val);
-          double omega =
-              Math.copySign(
-                  Math.min(Math.pow(MathUtil.applyDeadband(omega_val, deadband), 2), 1.0),
-                  omega_val);
+          double x_val = MathUtil.applyDeadband(xSupplier.getAsDouble(), deadband);
+          double y_val = MathUtil.applyDeadband(ySupplier.getAsDouble(), deadband);
+          double omega_val = MathUtil.applyDeadband(omegaSupplier.getAsDouble(), deadband);
+
+          double x = 0.0;
+          double y = 0.0;
+          double omega = 0.0;
+
+          double sprintIncreaseVal = 1.0 - maxNonSprintSpeed;
+
+          if (x_val != 0) {
+            x_val =
+                (x_val * xCoefficient.get() * maxNonSprintSpeed)
+                    + (sprintSupplier.getAsBoolean() ? sprintIncreaseVal : 0.0);
+            x = Math.copySign(Math.min(Math.pow(x_val, 2), 1.0), x_val);
+          }
+
+          if (y_val != 0) {
+            y_val =
+                (y_val * yCoefficient.get() * maxNonSprintSpeed)
+                    + (sprintSupplier.getAsBoolean() ? sprintIncreaseVal : 0.0);
+            y = Math.copySign(Math.min(Math.pow(y_val, 2), 1.0), y_val);
+          }
+
+          if (omega_val != 0) {
+            omega_val = omega_val * omegaCoefficient.get();
+            omega = Math.copySign(Math.min(Math.pow(omega_val, 2), 1.0), omega_val);
+          }
 
           driveBase.runVelocity(toFieldRelative(x, y, omega));
         },