Issue with Mecanum Test Code

[LFRobotics]

Okay so I changed it to this:

package org.usfirst.frc.team4623.robot;

import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Jaguar;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;

/**
 * The VM is configured to automatically run this class, and to call the
 * functions corresponding to each mode, as described in the IterativeRobot
 * documentation. If you change the name of this class or the package after
 * creating this project, you must also update the manifest file in the resource
 * directory.
 */
public class Robot extends IterativeRobot {
	
	
	XBox stick = new XBox(0);
	
	SpeedController frontLeftMotor = new Jaguar(0);
    SpeedController frontRightMotor = new Jaguar(1);
    SpeedController rearLeftMotor = new Jaguar(2);
    SpeedController rearRightMotor = new Jaguar(3);
    
    RobotDrive drive = new RobotDrive(0, 1, 2, 3);
	
    /**
     * This function is run when the robot is first started up and should be
     * used for any initialization code.
     */
    public void robotInit() {
    	
    }
    
    /**
     * This function is run once each time the robot enters autonomous mode
     */
    public void autonomousInit() {
    	
    }

    /**
     * This function is called periodically during autonomous
     */
    public void autonomousPeriodic() {
    
    }
    
    /**
     * This function is called once each time the robot enters tele-operated mode
     */
    public void teleopInit(){
    	
    	
    }

    /**
     * This function is called periodically during operator control
     */
    public void teleopPeriodic() {
    
			drive.mecanumDrive_Polar(stick.getLeftJoyY(), stick.getLeftJoyX(), 0);         
    	
      }
    
    /**
     * This function is called periodically during test mode
     */
    public void testPeriodic() {
    	LiveWindow.run();
    }
    
    public void mecanumDrive(double FL, double RL, double FR, double RR)   {
        frontLeftMotor.set(FL);
        rearLeftMotor.set(RL);
        frontRightMotor.set(FR);
        rearRightMotor.set(RR);
    }
    
}

And now the DriverStation says this:

ERROR Unhandled exception instantiating robot org.usfirst.frc.team4623.robot.Robot edu.wpi.first.wpilibj.util.AllocationException: PWM channel 1 is already allocated at [edu.wpi.first.wpilibj.PWM.initPWM(PWM.java:126), edu.wpi.first.wpilibj.PWM.<init>(PWM.java:145), edu.wpi.first.wpilibj.SafePWM.<init>(SafePWM.java:33), edu.wpi.first.wpilibj.Talon.<init>(Talon.java:49), edu.wpi.first.wpilibj.RobotDrive.<init>(RobotDrive.java:115), org.usfirst.frc.team4623.robot.Robot.<init>(Robot.java:26), sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method), sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:62), sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45), java.lang.reflect.Constructor.newInstance(Constructor.java:408), java.lang.Class.newInstance(Class.java:433), edu.wpi.first.wpilibj.RobotBase.main(RobotBase.java:197)]

I am sooooo confused - neither of my programs work and I have no idea why