See section 9.1 here (
http://www.ctr-electronics.com/downl...%20Manual.pdf).
It has the Java code to set up one follower/slave for a master Talon SRX. It is essentially this:
Code:
slaveMotor1.changeControlMode(CANTalon.ControlMode.Follower);
slaveMotor1.set(masterMotor.getDeviceID())
You will just need to set it up for two slaves on each side following the same master.
Code:
slaveMotor2.changeControlMode(CANTalon.ControlMode.Follower);
slaveMotor2.set(masterMotor.getDeviceID())
Then, just use your two masters (one left and one right) to create your RobotDrive object (it has a constructor that just takes one left and one right motor) and you have it.
I hope this helps,
Steve