Java Command Based Layout - Using a Command Twice

[Fauge7]

Make the drive train subsystem have all the motors controlling the drive train. As for coding it I would suggest making your own drive code, if your going with the 5 wheel H drive its similar to arcade drive but assign the 5th or 3rd motor controller to some value like the x value of the joystick. Also you should have 1 default command for the drive train and that should be the one you use for teleop. Good question though!