Tank Drive Code Examples/Templates

Hello, I need some help trying to find a basic template for a tank drive robot. I also have part of a code that I can link in the replies so that it may be easier for you to see my progress as of now.
My main struggle with what I have so far is where exactly to place it within Robot.java itself and how to bind the commands to a controller (Xbox). Any suggestions are welcome.

TalonFX left1;
TalonFX left2;
TalonFX left3;

TalonFX right1;
TalonFX right2;
TalonFX right3;

public TankDrive() {
left1 = new TalonFX(deviceNumber);
left2 = new TalonFX(deviceNumber);
left3 = new TalonFX(deviceNumber);

right1 = new TalonFX(devicenumber);
right2 = new TalonFX(deviceNumber);
right3 = new TalonFX(deviceNumber);


public void drive(double leftValve, double rightValve);

left1.set(ControlMode.PercentOutput, demand);
left2.set(ControlMode.PercentOutput, demand);
left3.set(ControlMode.PercentOutput, demand);

Check out this example: allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrivexboxcontroller at main · wpilibsuite/allwpilib · GitHub

There’s also more general documentation here: FIRST Robotics Competition Control System — FIRST Robotics Competition documentation

This example is also available as a new project template through vscode

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GitHub - NE-Robotics/Java-Framework: An opensource FRC java framework to make blending simulated & real robot code a breeze since as every programmer knows you will always get the bot last, always :) Provides a good framework for layout and code structure along with support for path planner and April tags along with easy simulation.

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