Help ME PLEASE ASAP

[CyberTeam5713]

Can someone please fix my code or point me in the right direction so i can use a xbox controller to drive. tank drive or arcade drive it doesnt matter

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

public void robotInit() {
drive = new RobotDrive(0,1,2,3);
mXboxController = 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 autonomousInit() {
drive = new RobotDrive(1,2,3,4);
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 autonomousPeriodic() {
while (isAutonomous() && isEnabled()) {
drive.setSafetyEnabled(true);
drive.drive(-0.5,0.0);
Timer.delay(5);
drive.drive(0.0,0.0);

}
}




public void teleopInit(){
drive = new RobotDrive(1,2,3,4);
mXboxController = 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 speedControl = 1;
double joystickLeftY = mXboxController.getRawAxis(1)*speedControl;
double joystickLeftX = mXboxController.getRawAxis(0)*-1*speedControl;
drive.arcadeDrive(joystickLeftY, joystickLeftX);