[eddie12390]

This may just be one of the things that I do and find useful, but creating constants for port numbers can be extremely useful for someone who has not read your code and is not using your robot.

Things like

private static final int DRIVE_LEFT_FRONT = 1;
Jaguar frontLeftDrive = new Jaguar(DRIVE_LEFT_FRONT);

will be a lot easier for others to understand. (And when you want to make a change you can just find your constants and type in a new number)

Also, to find the x axis/y axis value just type joystick.getX() or joystick.getY(). You also do not need to set the value of the joystick to a double before supplying it to the drive() method.

    public static String log(String aMessage){
        System.out.println(aMessage);
        return aMessage;
    }

The above would probably just be better off as a void where you don't have to bother with the return type. You'll just be telling yourself something that you already know.