[nyaculak]

Originally Posted by PANTHERPROJECT

Joystick joy1 = new Joystick(1);

RobotDrive drivetrain = new RobotDrive(1, 3, 2, 4);//Front Left - 1, Rear Left - 2, Front Right - 3, Rear Right - 4

I think you instantiated your RobotDrive instance with the motors in the wrong order. Correct me if I'm wrong, but the order should be frontLeft, rearLeft, frontRight, rearRight. Try changing the instatiation to

RobotDrive drivetrain = new RobotDrive(1, 2, 3, 4);

If that doesn't work, try as others have suggested and mount the robot up on blocks to isolate the wheels. This helps tremendously in debugging a faulty drive train.