[BradAMiller]

Originally Posted by mahmosh

yeah thanks it is working for arcade drive ... but if i wanna all 4 wheels get just (y)axis speed what i have to change ...
second Q. : We wanna use this year 2 motors to control the directions(see attachment files)
we have to make the motors number 1,2,3,4 just get speed from (y)axis
and motor number 5,6 ... get the directions by (x) axis - {we wanna use one joystick for driving not more like tank!
so who can help me to do this ?

The class and the methods were designed for simple 2 and 4 motor drive robots with skid steering. If you have more complex designs then you might consider subclassing the RobotDrive class and adding your own method to control the motors. Also you grab the source code and modify it to work in your robot, although subclassing where possible is usually a better solution.