Chief Delphi - Drivetrain Idea

I redid the Drivetrain code to normalize the motor values. How is the code? (Just ctrl-A ctrl-V'd it)
Code:
// RobotBuilder Version: 1.0

//

// This file was generated by RobotBuilder. It contains sections of

// code that are automatically generated and assigned by robotbuilder.

// These sections will be updated in the future when you export to

// Java from RobotBuilder. Do not put any code or make any change in

// the blocks indicating autogenerated code or it will be lost on an

// update. Deleting the comments indicating the section will prevent

// it from being updated in the future.

package org.usfirst.frc1127.DevBot2014_2015.subsystems;

import org.usfirst.frc1127.DevBot2014_2015.RobotMap;

import org.usfirst.frc1127.DevBot2014_2015.commands.*;

import edu.wpi.first.wpilibj.*;

import edu.wpi.first.wpilibj.command.Subsystem;

/**

 *

 */

public class Drivetrain extends Subsystem

{

    //constants

    final double DISTANCE_X = 1.0;

    final double DISTANCE_Y = 1.0;

    

    //only needed for field-centric

    final double PI = 3.1415926;

    

    //wheel velocity values | positive x values are right | positive y values are forwards

    private double[] motorValues = {0.0, 0.0, 0.0, 0.0};

    

    //rotation is cw

    private double rotationX;

    private double rotationY;

    

    //field-centric stuff

    private double curr_gyro_angle_degrees = 0.0;

    private double curr_gyro_angle_radians = 0.0;

    private double cos;

    private double sin;

    private double temp;

    

    //for the for loop

    private int i;

    double maxValue = 1.0;

    

    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS

    CANJaguar cANJaguar1 = RobotMap.drivetrainCANJaguar1;

    CANJaguar cANJaguar2 = RobotMap.drivetrainCANJaguar2;

    RobotDrive robotDrive2X = RobotMap.drivetrainRobotDrive2X;

    CANJaguar cANJaguar3 = RobotMap.drivetrainCANJaguar3;

    CANJaguar cANJaguar4 = RobotMap.drivetrainCANJaguar4;

    RobotDrive robotDrive2Y = RobotMap.drivetrainRobotDrive2Y;

    Gyro gyro1 = RobotMap.drivetrainGyro1;

    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS

    

    // Put methods for controlling this subsystem

    // here. Call these from Commands.

    public void initDefaultCommand()

    {

        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DEFAULT_COMMAND

        setDefaultCommand(new DriveWithJoysticks());

    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DEFAULT_COMMAND

        

        // Set the default command for a subsystem here.

        //setDefaultCommand(new MySpecialCommand());

    }

    

    public void TakeJoystickInputsAndDrive(Joystick left, Joystick right)

    {

        calculatedDrive(left.getY(), left.getX(), right.getX());

    }

    

    void calculatedDrive(double y, double x, double rotation)

    {

        //Field-centric adjustments. Comment out for robot-centric.

        curr_gyro_angle_degrees = gyro1.getAngle();

        curr_gyro_angle_radians = curr_gyro_angle_degrees * (PI / 180);

        cos = Math.cos(curr_gyro_angle_radians);

        sin = Math.sin(curr_gyro_angle_radians);

        temp = y * cos - x * sin;

        x = y * sin + x * cos;

        y = temp;

        

        //This code is needed for both robot-centric and field-centric

        rotationX = rotation * DISTANCE_X;

        rotationY = rotation * DISTANCE_Y;

        motorValues[0] = y - rotationY;

        motorValues[1] = y + rotationY;

        motorValues[2] = x - rotationX;

        motorValues[3] = x + rotationX;

        

        maxValue = 1.0;

        for(i = 0; i < 4; i++)

        {

            if(motorValues[i] > maxValue)

                maxValue = motorValues[i];

        }

        

        if(maxValue > 1.0)

            for(i = 0; i < 4; i++)

                motorValues[i] = motorValues[i] / maxValue;

        

        drive(motorValues[0], motorValues[1], motorValues[2], motorValues[3]);

    }

    

    void drive(double y1, double y2, double x1, double x2)

    {

        //left, right

        robotDrive2Y.drive(y1, y2);

        //front, back

        robotDrive2X.drive(x1, x2);

    }

    

    public void stop()

    {

        robotDrive2Y.drive(0, 0);

        robotDrive2X.drive(0, 0);

    }

}