[Sparkyshires]

Shoot!!! yup...the initialization should be outside of the while loop. We don't work on tuesdays so I'll test it tomorrow, but ya'll think this should work?

#include "WPILib.h"

class RobotDemo : public SimpleRobot
{
	RobotDrive myRobot; // robot drive system
	Joystick stick1; // only joystick
	Victor Left1, Left2, Right1, Right2; // drive motors

public:
	RobotDemo():
		myRobot(1, 2),	// these must be initialized in the same order
		stick1(1),	// as they are declared above.
		Left1(9),
		Left2(7),
		Right1(8),
		Right2(6)
	{
		myRobot.SetExpiration(0.1);
	}

	/**
	 * Drive left & right motors for 2 seconds then stop
	 */
	void Autonomous()
	{
		myRobot.SetSafetyEnabled(false);
		myRobot.Drive(-0.5, 0.0); 	// drive forwards half speed
		Wait(2.0); 				//    for 2 seconds
		myRobot.Drive(0.0, 0.0); 	// stop robot
	}
	void OperatorControl()
	{
		myRobot.SetSafetyEnabled(true);
		bool BackwardToggle, Button2Value;
		float Xaxis, Yaxis, LeftDrive, RightDrive, NecessaryTest;
		BackwardToggle = false;
		Button2Value = false;
		while (IsOperatorControl())
		{
			if(stick1.GetRawButton(2))
			{
				if(Button2Value == false)
				{
					Button2Value = true;
					BackwardToggle = !BackwardToggle;
				}
			}
			else
			{
				Button2Value = false;
			}
			Yaxis = stick1.GetRawAxis(2);
			Xaxis = stick1.GetRawAxis(1); // x is 1, y is 2
			RightDrive = Xaxis + Yaxis;
			LeftDrive = Xaxis - Yaxis;
			NecessaryTest = LeftDrive - RightDrive;
			if(NecessaryTest < 0.1 && NecessaryTest > -0.1)
			{
				NecessaryTest = (LeftDrive+RightDrive)/2;
				LeftDrive = NecessaryTest;
				RightDrive = NecessaryTest;
			}
			if(stick1.GetTrigger())
			{
				if(stick1.GetRawButton(2) == false)
				{
					Left1.Set(LeftDrive);
					Left2.Set(LeftDrive);
					Right1.Set(RightDrive);
					Right2.Set(RightDrive);
				}
				else if(stick1.GetRawButton(2) == true)
				{
					Left1.Set(RightDrive);
					Left2.Set(RightDrive);
					Right1.Set(LeftDrive);
					Right2.Set(LeftDrive);
				}
			}
			else
			{
				Left1.Set(0.0);
				Left2.Set(0.0);
				Right1.Set(0.0);
				Right2.Set(0.0);
			}
			Wait(0.005);				// wait for a motor update time
		}
	}
	
	/**
	 * Runs during test mode
	 */
	void Test() {

	}
};

START_ROBOT_CLASS(RobotDemo);