[notmattlythgoe]

Originally Posted by anthonygraff24

package org.usfirst.frc.team2872.robot;

import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Jaguar;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.Talon;
import edu.wpi.first.wpilibj.Victor;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;

/**
 * The VM is configured to automatically run this class, and to call the
 * functions corresponding to each mode, as described in the IterativeRobot
 * documentation. If you change the name of this class or the package after
 * creating this project, you must also update the manifest file in the resource
 * directory.
 */
public class Robot extends IterativeRobot {
	RobotDrive myRobot;
	Joystick stick1;
	Joystick stick2;
	int autoLoopCounter;
	Victor Winch = new Victor(2);
	
    /**
     * This function is run when the robot is first started up and should be
     * used for any initialization code.
     */
    public void robotInit() {
    	myRobot = new RobotDrive(0,1);
    	stick1 = new Joystick(0);
    	stick2 = new Joystick(1);
    	Winch.set(-.15);
    }
    
    /**
     * This function is run once each time the robot enters autonomous mode
     */
    public void autonomousInit() {
    	autoLoopCounter = 0;
    }

    /**
     * This function is called periodically during autonomous
     */
    public void autonomousPeriodic() {
    	if(autoLoopCounter < 100) //Check if we've completed 100 loops (approximately 2 seconds)
		{
			myRobot.drive(-0.5, 0.0); 	// drive forwards half speed
			autoLoopCounter++;
			} else {
			myRobot.drive(0.0, 0.0); 	// stop robot
		}
    }
    
    /**
     * This function is called once each time the robot enters tele-operated mode
     */
    public void teleopInit(){
    	 Winch.set(-.15);
    }

    /**
     * This function is called periodically during operator control
     */
    
    
    public void teleopPeriodic() {
        myRobot.tankDrive(stick1,stick2);
        Winch.set(-.15);
        if(stick1.getRawButton(2))
        	Winch.set(.05);
        if(stick1.getRawButton(3))
        	Winch.set(-.5);
    }
    
    /**
     * This function is called periodically during test mode
     */
    public void testPeriodic() {
    	LiveWindow.run();
    }
    
}

Change this line:

myRobot.tankDrive(stick1,stick2);

to this:

myRobot.tankDrive(stick1.getY() * 0.5, stick2.getY() * 0.5);

Then change the 0.5 to some scalar value depending on how much you want to scale it.