[admrialkunkka]

public class DriveTrain extends PIDSubsystem {
	private Victor leftMotors[] = new Victor[2];
	private Victor rightMotors[] = new Victor[2];
	private Talon hDriveMotor;
	private double lTarget;
	private double rTarget;
	private double lspeed;
	private double rspeed;
	private final double ACCEL;
	private Encoder encoder;
	
	/**
     * This function is run when the class is initialized and should be
     * used for any initialization code.
     */
	public DriveTrain() {
		super("Drive Train",3,2,0);
		leftMotors[0] = new Victor(RobotMap.leftMotors[0]);
		leftMotors[1] = new Victor(RobotMap.leftMotors[1]);
		rightMotors[0] = new Victor(RobotMap.rightMotors[0]);
		rightMotors[1] = new Victor(RobotMap.rightMotors[1]);
		hDriveMotor = new Talon(RobotMap.hDriveMotor);
		ACCEL = .1;
		rspeed = 0;
		lspeed = 0;
		encoder = new Encoder(RobotMap.encoder[0], RobotMap.encoder[1],false, Encoder.EncodingType.k4X);
		encoder.setDistancePerPulse(4*Math.PI);
	}

	/** Set the default command for a subsystem here.
     * setDefaultCommand(new MySpecialCommand());
     */
	public void initDefaultCommand() {
		
		setDefaultCommand(new HDriveWithJoystick());
	}
public void tankDrive(double leftSpeed, double rightSpeed) {
		for (Victor lv : leftMotors)
			lv.set(leftSpeed);
		for (Victor rv : rightMotors)
			rv.set(rightSpeed);
	}
public void setHDriveMotor(double speed){
		hDriveMotor.set(speed);
	}

	@Override
	protected double returnPIDInput() {
		// TODO Auto-generated method stub
		return encoder.pidGet();
	}

	@Override
	protected void usePIDOutput(double output) {
		// TODO Auto-generated method stub
		tankDrive(output,output);
	}

}

This is our code, we do not know if we are setting up the encoder object correctly or know if we are instantiating the PID correctly outside of this class