Drive system + encoders

[2472Programer]

Though i don't know how to use encoders, there is a first made tutorial based on them. I do however know how to program a basic arcade drive.
one joystick:

public class Main extends IterativeRobot {
    AxisCamera camera = AxisCamera.getInstance();
    Joystick leftStick = new Joystick(1);
    Joystick rightStick = new Joystick(2);
    Joystick joypad = new Joystick(3);
    CriteriaCollection cc;
    RobotDrive robotDrive = new RobotDrive(1,2,3,4);
    //Encoder shooterSpeed = new Encoder(1,2);
    //float Kp = 3.f;
    //float Ki = 0.f;
    //float Kd = 0.f;
    //private final PIDController shooterPID;
   
    public void robotInit() {
        
        cc = new CriteriaCollection();
        
        cc.addCriteria(NIVision.MeasurementType.IMAQ_MT_AREA, 30, 400, false);
        
        cc.addCriteria(NIVision.MeasurementType.IMAQ_MT_AREA, 40, 400, false);

    }

    /**
     * This function is called periodically during autonomous
     */
    public void autonomousPeriodic() {
        

    }

    /**
     * This function is called periodically during operator control
     */
    public void teleopPeriodic() {
        
        robotDrive.arcadeDrive(leftStick);

2 Joysticks

public class Main extends IterativeRobot {
    AxisCamera camera = AxisCamera.getInstance();
    Joystick leftStick = new Joystick(1);
    Joystick rightStick = new Joystick(2);
    Joystick joypad = new Joystick(3);
    CriteriaCollection cc;
    RobotDrive robotDrive = new RobotDrive(1,2,3,4);
    //Encoder shooterSpeed = new Encoder(1,2);
    //float Kp = 3.f;
    //float Ki = 0.f;
    //float Kd = 0.f;
    //private final PIDController shooterPID;
   
    public void robotInit() {
        
        cc = new CriteriaCollection();
        
        cc.addCriteria(NIVision.MeasurementType.IMAQ_MT_AREA, 30, 400, false);
        
        cc.addCriteria(NIVision.MeasurementType.IMAQ_MT_AREA, 40, 400, false);

    }

    /**
     * This function is called periodically during autonomous
     */
    public void autonomousPeriodic() {
        

    }

    /**
     * This function is called periodically during operator control
     */
    public void teleopPeriodic() {
        
        robotDrive.arcadeDrive(leftStick, rightStick);