[Robototes2412]

we used this code for strafing and moving, turning is its own can of worms.

public class WesleyCrusher {
    private Victor FRvictor = new Victor(2);  //right motor
    private Victor FLvictor = new Victor(1);   //left motor
    private Victor RRvictor = new Victor(4);  //right motor
    private Victor RLvictor = new Victor(3);   //left motor
    private Jaguar ballSucker = new Jaguar(7); //ball sucker
    
    boolean DEBUG = true;

    void checkingDrive(double magnitude, double rotation) { //DONT TOUCH THIS
        magnitude = limit(magnitude);  //1 is highest, so make n > 1, 1
        rotation  = limit(rotation);

        double frontLeftSpeed, rearLeftSpeed, frontRightSpeed, rearRightSpeed;  //temporary motor speed values

        frontLeftSpeed = ((magnitude - rotation));  //calculate speed values
        frontRightSpeed = ((magnitude + rotation));
        rearLeftSpeed = ((magnitude + rotation));
        rearRightSpeed = ((magnitude - rotation));

        if(DEBUG) {
        double maxMotor = Math.max(
            Math.max(Math.abs(frontLeftSpeed), Math.abs(frontRightSpeed)),
            Math.max(Math.abs(rearLeftSpeed), Math.abs(rearRightSpeed))
        );

        if (maxMotor > 1){
            frontRightSpeed = frontRightSpeed / maxMotor;
            rearRightSpeed = rearRightSpeed / maxMotor;
            frontLeftSpeed = frontLeftSpeed / maxMotor;
            rearLeftSpeed = rearLeftSpeed / maxMotor;
        }
        }

        frontLeftSpeed = limit(fiddleWithSpeed(frontLeftSpeed));
        frontRightSpeed = limit(fiddleWithSpeed(frontRightSpeed));
        rearLeftSpeed = limit(fiddleWithSpeed(rearLeftSpeed));
        rearRightSpeed = limit(fiddleWithSpeed(rearRightSpeed));

        if(magnitude != 0 || rotation !=0) {
            System.out.println("#############################################");
            System.out.println("Mangnitude: " + magnitude + "  Rotation: " + rotation);  //debugOut
            System.out.println("FLSpeed: " + frontLeftSpeed + "  FRSpeed: " + frontRightSpeed);
            System.out.println("RLSpeed: " + rearLeftSpeed + "  RRSpeed: " + rearRightSpeed);
        }

        FLvictor.set(-frontLeftSpeed);  //set the speeds on the motors
        FRvictor.set(frontRightSpeed);
        RLvictor.set(-rearLeftSpeed);
        RRvictor.set(rearRightSpeed);
    } //void checkingDrive

    void turn(double power) {
        if(Math.abs(power) > 0) {
            RRvictor.set(power);
            RLvictor.set(power);
        }
    }

    double limit(double num) {
        if (num > 1.0) {
            return 1.0;
        }
        if (num < -1.0) {
            return -1.0;
        }
        return num;
    }
    void ballSuckerOn() {
        ballSucker.set(0.75);
    }

    void ballSuckerOff() {
        ballSucker.set(0);
    }
}

Yes, i name all my code classes after bridge crew of the Enterprise-D