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+package org.usfirst.frc.team619.subsystems.drive;%0A%0Aimport org.usfirst.frc.team619.hardware.TalonCan;%0Aimport org.usfirst.frc.team619.hardware.Talon;%0A%0A/**%0A *%0A * @author admin%0A */%0Apublic class SwerveDriveBase %7B%0A    %0A%09private TalonCan leftMotor, rightMotor, leftMotor2, rightMotor2;%0A%09private Talon leftTurn, rightTurn, leftTurn2, rightTurn2;%0A%0A    public SwerveDriveBase(int leftMotorTalonID, int rightMotorTalonID) %7B%0A        leftMotor = new TalonCan(leftMotorTalonID);%0A        rightMotor = new TalonCan(rightMotorTalonID);%0A        rightMotor.setReversed(true);%0A    %7D%0A    %0A    public SwerveDriveBase(int leftMotorTalonID, int rightMotorTalonID, int leftMotorTalonID2, int rightMotorTalonID2, int leftTurnTalonID, int rightTurnTalonID, int leftTurnTalonID2, int rightTurnTalonID2)%7B%0A        leftMotor = new TalonCan(leftMotorTalonID);%0A        rightMotor = new TalonCan(rightMotorTalonID);%0A        leftMotor2 = new TalonCan(leftMotorTalonID2);%0A        rightMotor2 = new TalonCan(rightMotorTalonID2);%0A        leftTurn = new Talon(leftTurnTalonID);%0A        rightTurn = new Talon(rightTurnTalonID);%0A        leftTurn2 = new Talon(leftTurnTalonID2);%0A        rightTurn2 = new Talon(rightTurnTalonID2);%0A    %7D//end constructor TalonDriveBase%0A    %0A    public SwerveDriveBase(TalonCan leftMotor, TalonCan rightMotor, Talon leftTurn, Talon rightTurn)%7B%0A        this.leftMotor = leftMotor;%0A        this.leftTurn = leftTurn;%0A        this.rightMotor = rightMotor;%0A        this.rightTurn = rightTurn;%0A        rightMotor.setReversed(true);%0A    %7D//end constructor TalonDriveBase%0A%0A    public SwerveDriveBase(TalonCan leftMotor1, TalonCan leftMotor2, TalonCan rightMotor1, TalonCan rightMotor2, Talon rightMotorTurn1, Talon rightMotorTurn2, Talon leftMotorTurn1, Talon leftMotorTurn2) %7B%0A        this.leftMotor = leftMotor1;%0A        this.leftMotor = leftMotor2;%0A        this.rightMotor = rightMotor1;%0A        this.rightMotor = rightMotor2;%0A        this.leftTurn = leftMotorTurn1;%0A        this.leftTurn = leftMotorTurn2;%0A        this.rightTurn = rightMotorTurn1;%0A        this.rightTurn = rightMotorTurn2;%0A    %7D%0A%0A    protected SwerveDriveBase() %7B%0A        // USE WITH CAUTION%0A        // Allows child classes to bypass creating the Talons%0A    %7D%0A%0A    public TalonCan getLeftTalon() %7B%0A        return leftMotor;%0A    %7D%0A%0A    public TalonCan getRightTalon() %7B%0A        return rightMotor;%0A    %7D%0A    %0A    public Talon getLeftTalon2()%7B%0A        return leftTurn;%0A    %7D//end Talon getLeftTalon2%0A    %0A    public Talon getRightTalon2()%7B%0A        return rightTurn;%0A    %7D//end Talon getRightTalon2%0A%0A    public void drive(double leftPercent, double rightPercent) %7B%0A        leftMotor.set(leftPercent);%0A        rightMotor.set(rightPercent);%0A    %7D%0A    %0A    public void drive(double percent)%7B%0A    %09leftMotor.set(percent);%0A    %09rightMotor.set(percent);%0A    %7D%0A    %0A    public void turn(double turnPercent /*positive number goes right negative number goes left*/)%7B%0A    %09leftMotor.set(turnPercent);%0A    %09rightMotor.set(-turnPercent);%0A    %7D%0A    %0A    public void stop()%7B%0A    %09leftMotor.set(0);%0A    %09rightMotor.set(0);%0A    %7D%0A    %0A%7D%0A

Create SwerveDriveBase.java