How do i make my robot drive without the robot drive class

Technical Java
1

So far this is what i got.

public class Robot extends IterativeRobot {

Joystick mXboxController; 
Joystick controlStick;
Talon frontLeft,frontRight, rearLeft, rearRight;

public void robotInit() {	// this code will be ran each time we power on the robot

mXboxController = new Joystick(0); // depends on the usb connected to computer
controlStick = new Joystick(1);
frontLeft = new Talon(3);
frontRight = new Talon(2);
rearLeft = new Talon(0);
rearRight = new Talon(1);
}


public void autonomousInit() {  // triggers when we enter autonomous

	frontLeft.enableDeadbandElimination(false);
    frontLeft.set(-1.0);// dont forget to change speed to an int value -1.0 is full reverse and +1.0 is full forward also for foward on the y value -1 this may vary REMEBER!!!
    rearLeft.enableDeadbandElimination(false);
    rearLeft.set(+1.0); 
    frontRight.enableDeadbandElimination(false);
    frontRight.set(-1.0);
    rearRight.enableDeadbandElimination(false);
    rearRight.set(+1.0);
    
}


public void autonomousPeriodic() { // this code runs periodically in autonomous
	while (isAutonomous() && isEnabled()) {
	
	}
}
	



public void teleopInit(){ // This triggers every time we enter telop mode. 
 
  mXboxController = new Joystick(0); // the number within the parathesis depends on the controllers usb order always check
  controlStick = new Joystick(1);
  frontLeft = new Talon(3);
  frontRight = new Talon(2);
  rearLeft = new Talon(0);
  rearRight = new Talon(1);
}
 



public void teleopPeriodic() {
	while (isOperatorControl() && isEnabled()) {
		
		  if(mXboxController.getRawButton(8)){
        	frontRight.set(-1.0);
            
        
        }  else if(mXboxController.getRawButton(7)){
        	frontLeft.set(-1.0);
        }
        
        if(mXboxController.getRawButton(5)){
            rearLeft.set(0.1);
        } else if(mXboxController.getRawButton(6)){
		     rearRight.set(0.1);
        }
        
		Timer.delay(0.01); } }
2

public void teleopPeriodic() {
while (isOperatorControl() && isEnabled()) {

	// tank drive xbox controller no robotdrive class
	frontRight.set(mXboxController.getRawAxis(5);
	rearRight.set(mXboxController.getRawAxis(5);
	frontLeft.set(mXboxController.getRawAxis(2);
	rearLeft.set(mXboxController.getRawAxis(2);

	Timer.delay(0.01); 
}

}

3