Chief Delphi - Drive system + encoders

Though i don't know how to use encoders, there is a first made tutorial based on them. I do however know how to program a basic arcade drive.
one joystick:

Code:

public class Main extends IterativeRobot {

    AxisCamera camera = AxisCamera.getInstance();

    Joystick leftStick = new Joystick(1);

    Joystick rightStick = new Joystick(2);

    Joystick joypad = new Joystick(3);

    CriteriaCollection cc;

    RobotDrive robotDrive = new RobotDrive(1,2,3,4);

    //Encoder shooterSpeed = new Encoder(1,2);

    //float Kp = 3.f;

    //float Ki = 0.f;

    //float Kd = 0.f;

    //private final PIDController shooterPID;

   

    public void robotInit() {

        

        cc = new CriteriaCollection();

        

        cc.addCriteria(NIVision.MeasurementType.IMAQ_MT_AREA, 30, 400, false);

        

        cc.addCriteria(NIVision.MeasurementType.IMAQ_MT_AREA, 40, 400, false);



    }



    /**

     * This function is called periodically during autonomous

     */

    public void autonomousPeriodic() {

        



    }



    /**

     * This function is called periodically during operator control

     */

    public void teleopPeriodic() {

        

        robotDrive.arcadeDrive(leftStick);

2 Joysticks

Code:

public class Main extends IterativeRobot {

    AxisCamera camera = AxisCamera.getInstance();

    Joystick leftStick = new Joystick(1);

    Joystick rightStick = new Joystick(2);

    Joystick joypad = new Joystick(3);

    CriteriaCollection cc;

    RobotDrive robotDrive = new RobotDrive(1,2,3,4);

    //Encoder shooterSpeed = new Encoder(1,2);

    //float Kp = 3.f;

    //float Ki = 0.f;

    //float Kd = 0.f;

    //private final PIDController shooterPID;

   

    public void robotInit() {

        

        cc = new CriteriaCollection();

        

        cc.addCriteria(NIVision.MeasurementType.IMAQ_MT_AREA, 30, 400, false);

        

        cc.addCriteria(NIVision.MeasurementType.IMAQ_MT_AREA, 40, 400, false);



    }



    /**

     * This function is called periodically during autonomous

     */

    public void autonomousPeriodic() {

        



    }



    /**

     * This function is called periodically during operator control

     */

    public void teleopPeriodic() {

        

        robotDrive.arcadeDrive(leftStick, rightStick);