Autonomous in iterative robot

[CyberTeam5713]

Down below is my code and we want the robot to drive with arcade with a xbox controller also plz help me to get it to turn. And we are using the standard wheels on the robot



package org.usfirst.frc.team5713.robot;

import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.Talon;



public class Robot extends IterativeRobot {
RobotDrive drive = new RobotDrive(1,2,3,4);
Joystick driveStick = new Joystick(0);
Joystick controlStick = new Joystick(1);
Talon frontLeft = new Talon(1);
Talon rearLeft = new Talon(2);
Talon frontRight = new Talon(3);
Talon rearRight = new Talon(4);

public void robotInit() {
drive = new RobotDrive(1,2,3,4);
driveStick = new Joystick(0);
controlStick = new Joystick(1);
frontLeft = new Talon(1);
frontLeft.enableDeadbandElimination(true);
frontLeft.set(+1.0);
rearLeft = new Talon(2);
rearLeft.enableDeadbandElimination(true);
rearLeft.set(-1.0);
frontRight = new Talon(3);
frontRight.enableDeadbandElimination(true);
frontRight.set(+1.0);
rearRight = new Talon(4);
rearRight.enableDeadbandElimination(true);
rearRight.set(-1.0);

public void teleopInit(){
drive = new RobotDrive(1,2,3,4);
driveStick = new Joystick(0);
controlStick = new Joystick(1);
frontLeft = new Talon(1);
frontLeft.enableDeadbandElimination(true);
frontLeft.set(-1.0);
rearLeft = new Talon(2);
rearLeft.enableDeadbandElimination(true);
rearLeft.set(+1.0);
frontRight = new Talon(3);
frontRight.enableDeadbandElimination(true);
frontRight.set(-1.0);
rearRight = new Talon(4);
rearRight.enableDeadbandElimination(true);
rearRight.set(+1.0);

}




public void teleopPeriodic() {
while (isOperatorControl() && isEnabled()) {
drive.setSafetyEnabled(true);


double joystickLeftY = driveStick.getRawAxis(2);
double joystickLeftX = driveStick.getRawAxis(1);
drive.arcadeDrive(joystickLeftY, joystickLeftX, true);
Timer.delay(0.01); } }

also our team is using standard wheels and we have the middle wheel and back wheel connected to drive train and the middle wheel has two motors and the same applies to the other middle wheel. for going forward and backward can someone plz help