[btreyl11]

Well my team seems to believe it is not necessarily a problem with our code but, with deploying the c++ code itself onto the robot but yes hear is our prototype drive code:

#include <WPILib.h>
#include <Vision/RGBImage.h>
#include <Vision/BinaryImage.h>
#include <Math.h>


class RobotDemo : public IterativeRobot
{
	
	
	Joystick* Stick_xy;
	Joystick* Stick_z;
	
	Jaguar* motor1;
	Jaguar* motor2;
	Jaguar* motor3;
	Jaguar* motor4;
	Jaguar* motor5;
	
	PWM* connect1;
	PWM* connect2;
	PWM* connect3;
	PWM* connect4;
	PWM* connect5;
	
	//RobotDrive* myRobot;
	
	Servo* xCam;
	Servo* yCam;
	
	DriverStation* Station;
	DriverStationLCD* Station_out;
	
	

public:
	RobotDemo(void)		// as they are declared above.
	{
		Stick_xy = new Joystick(1);
		Stick_z = new Joystick(2);
		motor1 = new Jaguar(1);
		motor2 = new Jaguar(2);
		motor3 = new Jaguar(3);
		motor4 = new Jaguar(4);
		motor5 = new Jaguar(5);
		
		connect1 = new PWM(1,1);
		connect2 = new PWM(2,2);
		connect3 = new PWM(3,3);
		connect4 = new PWM(4,4);
		connect5 = new PWM(5,5);
		
		
		//myRobot = new RobotDrive(1,2,3,4);
		
		
		
		Station = DriverStation::GetInstance();
		Station_out = DriverStationLCD::GetInstance();
		
	}
	~RobotDemo(void)
	{
		delete Stick_xy;
		delete Stick_z;
		
		delete motor1;
		delete motor2;
		delete motor3;
		delete motor4;
		delete motor5;
		
		//delete myRobot;
	
		delete Station;
		delete Station_out;
		
		delete xCam;
		delete yCam;
	}

	void Autonomous(void)
	{
		
	}

	
	void TeleopContinuous(void)
	{
		
			
			if (Stick_xy->GetRawAxis(2)!= 0)//if the stick is moved up or down
			{
				motor1->SetSpeed(Stick_xy->GetRawAxis(1));
				motor3->SetSpeed(Stick_xy->GetRawAxis(1));
			}
			if(Stick_xy->GetRawAxis(1) != 0)//if the stick moves left or right
			{
				motor2->SetSpeed(Stick_xy->GetRawAxis(2));
				motor4->SetSpeed(Stick_xy->GetRawAxis(2));
			}
			if(Stick_z->GetRawAxis(2)!= 0)//if the z stick moves left or right
			{
				motor1->SetSpeed(Stick_z->GetRawAxis(1));
				motor3->SetSpeed(-(Stick_z->GetRawAxis(1)));
			}
			if(Stick_z->GetRawAxis(1) != 0)
			{
				motor5->SetSpeed(Stick_z->GetRawAxis(1));
			}
			else
			{
				Stop();
			}
			
		
	}
	
	
	void Test() {
		
	}
private:
	void Stop()
	{
		motor1->SetSpeed(0);
		motor2->SetSpeed(0);
		motor3->SetSpeed(0);
		motor4->SetSpeed(0);
	}
	/*void GetCamPosition()
	{
		float xPos = 170 * Stick_z->GetRawAxis(1)+85;
		float yPos = 170 * Stick_xy->GetRawAxis(2)+85;
		
		if(Stick_z->GetRawAxis(2)!= 0)
		{
			while(xCam->SetAngle(2) >insert ammount && xCam->SetAngle(2)<insert Right angle)
			{
			xCam->SetAngle(Stick_z->GetRawAxis(2));
			}
		}
		
	}*/
	void Target()
	{
		/*
		 * MIDDLE GOALS have openings that are 54 in. wide and 21 in. tall
		 * bottom edge of the MIDDLE GOAL is located 88 5/8 in. above the FIELD
		 *----------------------------------------------------------------------
		 * HIGH GOAL is 54 in. wide and 12 in. tall
		 * bottom edge of the opening located 104 1/8 in. above the FIELD
		 */
		
	}
};

START_ROBOT_CLASS(RobotDemo);

some of it has been customized since the last time I posted. And it probably wont be used on the robot this year but, I am just curious how to fix it.