3 files changed, 18 insertions, 10 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2016/Control.java b/src/org/usfirst/frc/team4272/robot2016/Control.java
index d7eadf5..40fcb5a 100644
--- a/src/org/usfirst/frc/team4272/robot2016/Control.java
+++ b/src/org/usfirst/frc/team4272/robot2016/Control.java
@@ -1,9 +1,13 @@
 package org.usfirst.frc.team4272.robot2016;
 
 public class Control {
-	double lDrive, rDrive, fBall, bBall, arm;
+	double lDrive1 = 0,
+	       lDrive2 = 0,
+	       rDrive1 = 0,
+	       rDrive2 = 0,
+	       fBall   = 0,
+	       bBall   = 0,
+	       arm     = 0;
 
-	public Control() {
-		lDrive = rDrive = fBall = bBall = arm = 0;
-	}
+	public Control() {}
 }
diff --git a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
index 90eafe1..62b71c5 100644
--- a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
+++ b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
@@ -29,8 +29,8 @@ public class HwRobot {
 
 	//public Encoder   lDriveE = new Encoder(/*DIO*/2,/*DIO*/3);
 	//public Encoder   rDriveE = new Encoder(/*DIO*/0,/*DIO*/1, true);
-	private PIDOutput lDriveM = new PIDOutputSplitter(new Talon(/*PWM*/0), new Talon(/*PWM*/1));
-	private PIDOutput rDriveM = new PIDOutputSplitter(new Talon(/*PWM*/2), new Talon(/*PWM*/3));
+	private PIDOutput lDriveM1 = new Talon(/*PWM*/0), lDriveM2 = new Talon(/*PWM*/1);
+	private PIDOutput rDriveM1 = new Talon(/*PWM*/2), rDriveM2 = new Talon(/*PWM*/3);
 	private PIDOutput armM    = new PIDOutputSplitter(new Talon(/*PWM*/4), new Talon(/*PWM*/5));
 	private PIDOutput fBallM  = new PIDOutputSplitter(new Talon(/*PWM*/6), new Talon(/*PWM*/7));
 	private PIDOutput bBallM  = new PIDOutputSplitter(new Talon(/*PWM*/8), new Talon(/*PWM*/9));
@@ -41,8 +41,10 @@ public class HwRobot {
 	}
 
 	public void run(Control c) {
-		lDriveM.pidWrite( c.lDrive);
-		rDriveM.pidWrite(-c.rDrive);
+		lDriveM1.pidWrite( c.lDrive1);
+		lDriveM2.pidWrite( c.lDrive2);
+		rDriveM1.pidWrite(-c.rDrive1);
+		rDriveM2.pidWrite(-c.rDrive2);
 		armM.pidWrite(-c.arm);
 		fBallM.pidWrite(-c.fBall);
 		bBallM.pidWrite(-c.bBall);
diff --git a/src/org/usfirst/frc/team4272/robot2016/Teleop.java b/src/org/usfirst/frc/team4272/robot2016/Teleop.java
index 0de200d..b082adb 100644
--- a/src/org/usfirst/frc/team4272/robot2016/Teleop.java
+++ b/src/org/usfirst/frc/team4272/robot2016/Teleop.java
@@ -28,8 +28,10 @@ public class Teleop {
 
 	public Control run(Control control, HwOI oi) {
 		/* Drive */
-		control.lDrive = jsScale(oi.lStick);
-		control.rDrive = jsScale(oi.rStick);
+		control.lDrive1 = jsScale(oi.lStick);
+		control.rDrive1 = jsScale(oi.rStick);
+		control.lDrive2 = oi.lStick.getTrigger() ? control.lDrive1 : 0;
+		control.rDrive2 = oi.rStick.getTrigger() ? control.rDrive1 : 0;
 		control.arm = -oi.xbox.getAxis(Axis.LY);
 		control.fBall = bound(-1, oi.xbox.getAxis(Axis.RTrigger) - oi.xbox.getAxis(Axis.LTrigger), 1);
 		control.bBall = bound(-1,