/*
 * 
 *This class is here for basic reference of the main class code layout and to be
 *able to just copy and paste the base code. 
 * 
 * 
 */

package org.usfirst.frc.team619.robot;

import org.usfirst.frc.team619.hardware.TalonCan;
import org.usfirst.frc.team619.hardware.Talon;
import org.usfirst.frc.team619.logic.ThreadManager;
import org.usfirst.frc.team619.logic.mapping.SwerveDriveMappingThread;
import org.usfirst.frc.team619.subsystems.DriverStation;
import org.usfirst.frc.team619.subsystems.drive.SwerveDriveBase;

import edu.wpi.first.wpilibj.IterativeRobot;

/**
 * The VM is configured to automatically run this class, and to call the
 * functions corresponding to each mode, as described in the IterativeRobot
 * documentation. If you change the name of this class or the package after
 * creating this project, you must also update the manifest file in the resource
 * directory.
 */
public class SwerveTest extends IterativeRobot {
    
	//declare all variables and objects here
	
	//Basics
	ThreadManager threadManager;
	DriverStation driverStation;

	//Logic
	SwerveDriveMappingThread driveThread;
	
	//Subsystems
	SwerveDriveBase driveBase;
	
	//Hardware
	TalonCan driveLeft;
	TalonCan driveRight;
	
	Talon turnLeft;
	Talon turnRight;
	
	/**
     * This function is run when the robot is first started up and should be
     * used for any initialization code.
     */
    public void robotInit() {
    	System.out.println("\n");// shows code is working
        System.out.println("//////////////////////////////////////////////////////");
        System.out.println("// Cavalier Robotics                     TEAM 619   //");
        System.out.println("// 2015 Jenga                                       //");
        System.out.println("//////////////////////////////////////////////////////\n");
        
        //Create all robot subsystems (i.e. stuff from/for org.usfirst.frc.team619.subsystems)
        //If you are creating something not from/for org.usfirst.frc.team619.subsystems, YER DOING IT WRONG
        
        //threadManager
        threadManager = new ThreadManager();
        
        //driver station
        driverStation = new DriverStation(1, 2);
        
        //CAN
        driveLeft = new TalonCan(1);
        driveRight = new TalonCan(2);
        
        turnLeft = new Talon(4);
        turnRight = new Talon(3);
        
        //subsystems
        driveBase = new SwerveDriveBase(driveLeft, driveRight, turnLeft, turnRight);
        
    }

    /**
     *This function is called when autonomous is initialized
     */
    public void autonomousInit(){
    	threadManager.killAllThreads(); // DO NOT EVER REMOVE!!!
    	
    }
    /**
     * This function is called when teleop is initialized
     */
    public void teleopInit(){
    	threadManager.killAllThreads(); // DO NOT EVER REMOVE!!!
	
    }
    /**
     * This function is called periodically (about every 20 ms) during autonomous
     */
    public void autonomousPeriodic() {

    }
    /**
     * This function is called periodically during operator control
     */
    public void teleopPeriodic() {
    	
    }
    /**
     * This function is called periodically during test mode
     */
    public void testPeriodic() {
    
    }
    public void disabledInit(){
    	threadManager.killAllThreads(); // DO NOT EVER REMOVE!!!
    }
    
    public void disabledPeriodic(){}
    
    public void disabledContinuous(){}
    
}

@@ -1220,42 +1220,124 @@
 t;%0A%09
-%0A%09Talon turnLeft;%0A%09Talon turnRight
+TalonCan driveLeft2;%0A%09TalonCan driveRight2;%0A%09%0A%09Talon turnLeft;%0A%09Talon turnRight;%0A%09Talon turnLeft2;%0A%09Talon turnRight2
 ;%0A%09%0A
@@ -2365,24 +2365,101 @@
 alonCan(2);%0A
+        driveLeft2 = new TalonCan(3);%0A        driveRight2 = new TalonCan(4);%0A
         %0A   
@@ -2484,17 +2484,17 @@
 w Talon(
-4
+5
 );%0A     
@@ -2518,17 +2518,86 @@
 w Talon(
-3
+6);%0A        turnLeft2 = new Talon(7);%0A        turnRight2 = new Talon(8
 );%0A     
@@ -2665,50 +2665,30 @@
 ase(
-driveLeft, driveRight, turnLeft, turnRight
+1, 2, 3, 4, 5, 6, 7, 8
 );%0A 

Update SwerveTest.java