Motor Controllers

[Mr.Roboto3335]

I would like to know how to set a motor controller to a joystick. This year we are using tank drive with four motors. When I push on a joystick the front two motors move and one is moving backwards. I really need help.
(Ignore the Mecanum code)

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved.                             */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/
/* Written by 2T's                                                            */
/* PizzaLovers007 and Lordninjaassassin                                       */
/* (c) 2014                                                                   */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.templates;

import edu.wpi.first.wpilibj.DriverStationLCD;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.Talon;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.camera.AxisCamera;
import edu.wpi.first.wpilibj.camera.AxisCameraException;
import edu.wpi.first.wpilibj.image.BinaryImage;
import edu.wpi.first.wpilibj.image.ColorImage;
import edu.wpi.first.wpilibj.image.CriteriaCollection;
import edu.wpi.first.wpilibj.image.NIVision;
import edu.wpi.first.wpilibj.image.NIVisionException;
import edu.wpi.first.wpilibj.image.ParticleAnalysisReport;

public class Robot2014 extends IterativeRobot {

    private Joystick leftStick;
    private Joystick rightStick;
    private RobotDrive drive;
    private AxisCamera camera;
    private DriverStationLCD lcd = DriverStationLCD.getInstance();
    private SpeedController m_FrontLeft;
    private SpeedController m_FrontRight;
    private SpeedController m_BackLeft;
    private SpeedController m_BackRight;
    private CriteriaCollection cc;

    public void robotInit() {
        joystickInit();
        talonInit();
        robotDriveInit();

        camera = AxisCamera.getInstance();
        camera.writeCompression(0);
        camera.writeResolution(AxisCamera.ResolutionT.k320x240);
        camera.writeBrightness(10);
        getWatchdog().setExpiration(3);
        getWatchdog().feed();
        lcd.println(DriverStationLCD.Line.kUser2, 1, "Enabled!");
        lcd.updateLCD();
        cc = new CriteriaCollection();
        cc.addCriteria(NIVision.MeasurementType.IMAQ_MT_AREA, 500, 65535, false);
    }

    public void joystickInit() {
        leftStick = new Joystick(1);
        rightStick = new Joystick(2);
    }

    public void robotDriveInit() {
        drive = new RobotDrive(m_FrontLeft, m_BackLeft, m_FrontRight, m_BackRight);
    }

    public void talonInit() {

        m_FrontLeft = new Talon(1);
        m_FrontRight = new Talon(2);
        m_BackLeft = new Talon(3);
        m_BackRight = new Talon(4);

    }

    public void disabledContinuous() {
    }

    public void disabledInit() {
        lcd.println(DriverStationLCD.Line.kUser2, 1, "Disabled!");
        lcd.updateLCD();
    }

    public void disabledPeriodic() {
    }

    public void autonomousInit() {
        getWatchdog().setEnabled(false);
        lcd.println(DriverStationLCD.Line.kUser2, 1, "Autonomous!");
        lcd.updateLCD();

        boolean hotGoalLeft = false;

        //Calculate hot goal (may suck)
        try {
            ColorImage image = camera.getImage();
            BinaryImage thresholdImage = image.thresholdRGB(0, 45, 25, 255, 0, 47);
            BinaryImage convexHullImage = thresholdImage.convexHull(false);
            BinaryImage filteredImage = convexHullImage.particleFilter(cc);
            ParticleAnalysisReport[] reports = filteredImage.getOrderedParticleAnalysisReports();
            for (int i = 0; i < reports.length; i++) {
                ParticleAnalysisReport rep = reports[i];
                if (rep.boundingRectWidth > rep.boundingRectHeight && rep.boundingRectHeight > 5) {
                    hotGoalLeft = (rep.center_mass_x_normalized < 0) ? true : false;
                }
            }

            image.free();
            thresholdImage.free();
            convexHullImage.free();
            filteredImage.free();
        } catch (NIVisionException ex) {
        } catch (AxisCameraException ex) {
        }

        //Turn towards hot goal
        if (hotGoalLeft) {
            drive.mecanumDrive_Polar(0, 0, -1);
            Timer.delay(0.8);
        } else {
            drive.mecanumDrive_Polar(0, 0, 1);
            Timer.delay(0.8);
        }

        //TODO shoot or something...

        //Turn back forward
        if (hotGoalLeft) {
            drive.mecanumDrive_Polar(0, 0, 1);
            Timer.delay(0.8);
        } else {
            drive.mecanumDrive_Polar(0, 0, -1);
            Timer.delay(0.8);
        }

        //Move forward
        drive.mecanumDrive_Cartesian(0, 0.5, 0, 0);
        Timer.delay(1.2);

        //Stop and wait
        drive.mecanumDrive_Cartesian(0, 0, 0, 0);
    }

    public void autonomousPeriodic() {
    }

    public void teleopInit() {
        getWatchdog().setEnabled(true);
        lcd.println(DriverStationLCD.Line.kUser2, 1, "Teleop!");
        lcd.updateLCD();
    }

    public void teleopPeriodic() {


        // drive.mecanumDrive_Polar(leftStick.getMagnitude(), leftStick.getDirectionDegrees(), rightStick.getX());
        // drive.mecanumDrive_Cartesian(leftStick.getAxis(Joystick.AxisType.kX),
        // leftStick.getAxis(Joystick.AxisType.kY),
        // rightStick.getAxis(Joystick.AxisType.kX), 0);
        drive.tankDrive(leftStick.getY(), rightStick.getY());
        //   drive.mecanumDrive_Polar(leftStick.getY(), leftStick.getX(), rightStick.getTwist());
        //TODO add ball manipulation device operations
    }
}