need help programming arms with extra motor and talon

[choas500]

please help us
this is our code so far..

package org.usfirst.frc.team4640.robot;


import edu.wpi.first.wpilibj.CameraServer;
import edu.wpi.first.wpilibj.SampleRobot;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Timer;



public class Robot extends SampleRobot {
RobotDrive myRobot; // class that handles basic drive operations
Joystick leftStick; // set to ID 1 in DriverStation
Joystick rightStick; // set to ID 2 in DriverStation
CameraServer server;

public Robot() {
myRobot = new RobotDrive(0, 1);
myRobot.setExpiration(0.1);
leftStick = new Joystick(0);
rightStick = new Joystick(1);
server = CameraServer.getInstance();
server.setQuality(50);
//the camera name (ex "cam0") can be found through the roborio web interface
server.startAutomaticCapture("cam0");

}


/**
* Runs the motors with tank steering.
*/
public void operatorControl() {
myRobot.setSafetyEnabled(true);
while (isOperatorControl() && isEnabled()) {
myRobot.tankDrive(leftStick, rightStick);
Timer.delay(0.005); // wait for a motor update time



}

}
}

[Ozuru]

I reformatted using code tags -- use these in the future. It makes code easily readable.

import edu.wpi.first.wpilibj.CameraServer;
import edu.wpi.first.wpilibj.SampleRobot;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Timer;



public class Robot extends SampleRobot {
RobotDrive myRobot; // class that handles basic drive operations
Joystick leftStick; // set to ID 1 in DriverStation
Joystick rightStick; // set to ID 2 in DriverStation
CameraServer server;

public Robot() {
myRobot = new RobotDrive(0, 1);
myRobot.setExpiration(0.1);
leftStick = new Joystick(0);
rightStick = new Joystick(1);
server = CameraServer.getInstance();
server.setQuality(50);
//the camera name (ex "cam0") can be found through the roborio web interface
server.startAutomaticCapture("cam0");

}


/**
* Runs the motors with tank steering.
*/
public void operatorControl() {
myRobot.setSafetyEnabled(true);
while (isOperatorControl() && isEnabled()) {
myRobot.tankDrive(leftStick, rightStick);
Timer.delay(0.005);	// wait for a motor update time



}

}
}

I recommend you look at existing code already published, GitHub has lots of resources that you can look at. I have no experience with this code but with Iterative and CommandBased I do.

Talons are as simple as

Talon t = new Talon(0); // PWM is plugged into PWM port 0

To move your Talon, do

t.set(1); // sets full speed forward
t.set(-1); // sets full speed backwards
t.set(0); // stops the motor

To control it with a button:

Joystick driverStick = new Joystick(0);
Button driverButton1 = new JoystickButton(driverStick, 1);
if(driverButton1.get()) { // if pressed
t.set(1);
} else {
t.set(0);
}

These are very rudimentary and crude code pastes but hopefully you get the idea.