Typically teams use tank drive but it is really personal choice, i belive you could simplify your code a bit to by using:
Your Mainclass:
Code:
RobotDrive drive;
Joystick left, right;
robotInit:
Code:
drive = new RobotDrive(1,2,3,4); // Four motors on pwm You can replace with CANJaguars too.
right = new Joystick(1);
left = new Joystick(2);
operatorControl:
Code:
drive.tankDrive(left.getY(), right.getY());
For arcade:
Code:
drive.arcadeDrive(left.getY(), left.getX()); // your Y val is your speed and the X value is your turning
You may have to import classes if so just right click the underlined errors and click fix imports