[xcountry413]

It's actually the constructor of the class. Here's the code:

package org.usfirst.frc.team2022.robot.subsystems;


import org.usfirst.frc.team2022.robot.RobotMap;
import org.usfirst.frc.team2022.robot.commands.TankDriveCommand;

import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Talon;
import edu.wpi.first.wpilibj.command.Subsystem;

/**
 *
 */
public class TankDriveSubsystem extends Subsystem {
	private final Talon frontLeft, frontRight, rearLeft, rearRight;
	private double leftSpeed, rightSpeed;
	private boolean inverted;
	private long lastTime;
	private Encoder encoder;

	public TankDriveSubsystem(){
		// SmartDashboard.putString("TankDrive", "SUBSYSTEM_INIT"); //Will
		// crash. TODO: fix?
            frontLeft = new Talon(RobotMap.leftMotorFront);
            frontRight = new Talon(RobotMap.rightMotorFront);
            rearLeft = new Talon(RobotMap.leftMotorBack);
            rearRight = new Talon(RobotMap.rightMotorBack);

            inverted = false;
            lastTime = System.currentTimeMillis();
		
//		encoder = new Encoder(RobotMap.encoder1, RobotMap.encoder2, false);
//		encoder.setDistancePerPulse(4.7);
//		encoder.setDistancePerPulse((6 * Math.PI) / 360); //No idea if this is right, diameter * pi / pulses per revolution. Change to correct measurements
//		
//		encoder.reset();
		
	}
	
	public double getEncoderDistance(){
		return encoder.getDistance();
	}
	
	public void resetEncoder(){
		encoder.reset();
	}

	@Override	
	// this is important for WPILib.
	public void initDefaultCommand() {
		setDefaultCommand(new TankDriveCommand());

	}

	// Speed Manipulation Methods-these are more fine grained
	public double getLeftSpeed() {
		return leftSpeed;
	}

	public double getRightSpeed() {
		return rightSpeed;
	}

	public void setLeftSpeed(double ls) {
		leftSpeed = ls;
		frontLeft.set(ls);
		rearLeft.set(ls);
	}

	public void setRightSpeed(double rs) {
		rightSpeed = rs;
		frontRight.set(rs);
		rearRight.set(rs);
	}

	// Inversion
	public boolean isInverted() {
		return inverted;
	}

	public void toggleInversion() {
		if (System.currentTimeMillis() > lastTime + 250) {
			lastTime = System.currentTimeMillis();
			inverted = !inverted;
			leftSpeed *= -1;
			rightSpeed *= -1;
		}
	}

	// Forwards and Reverse Control for each side.
	public void stop() {
		frontRight.set(0);
		frontLeft.set(0);
		rearRight.set(0);
		rearLeft.set(0);
		rightSpeed = 0;
		leftSpeed = 0;
	}
}