The ending of somethign beautiful

Author: Smartypants0506

src/main/kotlin/com/team4099/robot2026/commands/drivetrain/TeleopDriveCommand.kt

@@ -37,9 +37,14 @@ class TeleopDriveCommand(
       CustomLogger.recordOutput("ActiveCommands/speedYinMPS", speed.second.inMetersPerSecond)
       CustomLogger.recordOutput("ActiveCommands/rotationInDPS", rotation.inDegreesPerSecond)
 
-      drivetrain.runSpeeds(
-          ChassisSpeeds.fromFieldRelativeSpeeds(
-              speed.first, speed.second, rotation, drivetrain.pose.rotation))
+      if (driver.fieldRelativeControls){
+        drivetrain.runSpeeds(
+            ChassisSpeeds.fromFieldRelativeSpeeds(
+                speed.first, speed.second, rotation, drivetrain.pose.rotation))
+      } else{
+        drivetrain.runSpeeds(
+                speed.first, speed.second, rotation)
+      }
 
       CustomLogger.recordDebugOutput("ActiveCommands/TeleopDriveCommand", true)
     }

src/main/kotlin/com/team4099/robot2026/util/driver/DriverProfile.kt

@@ -15,6 +15,7 @@ abstract class DriverProfile(
     private val sensitivityRotationPowerConstant: Int,
     private val driveSlowModeClamp: Double = 0.75,
     private val turnSlowModeClamp: Double = 0.75
+    private val fieldRelativeControls: Boolean = true
 ) {
   private val invertDriveMultiplier = if (invertDrive) -1 else 1
   private val invertRotationMultiplier = if (invertRotation) -1 else 1

src/main/kotlin/com/team4099/robot2026/util/driver/Omkar.kt

@@ -0,0 +1,3 @@
+package com.team4099.robot2026.util.driver
+
+class Omkar : DriverProfile(false, true, 2, 2, false)