what is the relation between desire, unconscious, repression, and self-mastery and self-discovery? do the lidinal drives create happiness amd freedom?

Mapping out the history of desire in psychology and existentialism

what is desire? why people desire what they desire? how do psychologists see desire? what is the relation between desire, unconscious, repression, and self-mastery and self-discovery? do the lidinal drives create happiness and freedom?