new project

http://www.chiefdelphi.com/forums/showthread.php?p=1518689&highlight=srx#post1518689

JAVA_Six_CANTalon_ArcadeDrive/.project

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+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>JAVA_Six_CANTalon_ArcadeDrive</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.eclipse.jdt.core.javabuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>org.eclipse.jdt.core.javanature</nature>
+		<nature>edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature</nature>
+	</natures>
+</projectDescription>

JAVA_Six_CANTalon_ArcadeDrive/build.properties

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+# Project specific information
+package=org.usfirst.frc.team469.robot
+robot.class=${package}.Robot
+simulation.world.file=/usr/share/frcsim/worlds/GearsBotDemo.world
+#Uncomment and point at user libraries to include them in the build. Do not put libraries in the \wpilib\java folder, this folder is completely overwritten on plugin update.
+#userLibs=${user.home}/wpilib/user/lib

JAVA_Six_CANTalon_ArcadeDrive/src/org/usfirst/frc/team469/robot/Robot.java

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+
+package org.usfirst.frc.team469.robot;
+import edu.wpi.first.wpilibj.CANTalon;
+import edu.wpi.first.wpilibj.IterativeRobot;
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.Joystick.AxisType;
+import edu.wpi.first.wpilibj.RobotDrive;
+import edu.wpi.first.wpilibj.RobotDrive.MotorType;
+import edu.wpi.first.wpilibj.CANTalon.TalonControlMode;
+
+/**
+ * The VM is configured to automatically run this class, and to call the
+ * functions corresponding to each mode, as described in the IterativeRobot
+ * documentation. If you change the name of this class or the package after
+ * creating this project, you must also update the manifest file in the resource
+ * directory.
+ */
+public class Robot extends IterativeRobot {
+
+	/* talons for arcade drive */
+	CANTalon _frontLeftMotor = new CANTalon(11); 		/* device IDs here (1 of 2) */
+	CANTalon _rearLeftMotor = new CANTalon(13);
+	CANTalon _frontRightMotor = new CANTalon(14);
+	CANTalon _rearRightMotor = new CANTalon(15);
+
+	/* extra talons for six motor drives */
+	CANTalon _leftSlave = new CANTalon(16);
+	CANTalon _rightSlave = new CANTalon(17);
+	
+	RobotDrive _drive = new RobotDrive(_frontLeftMotor, _rearLeftMotor, _frontRightMotor, _rearRightMotor);
+	
+	Joystick _joy = new Joystick(0);
+    /**
+     * This function is run when the robot is first started up and should be
+     * used for any initialization code.
+     */
+    public void robotInit() {
+    	/* take our extra talons and just have them follow the Talons updated in arcadeDrive */
+    	_leftSlave.changeControlMode(TalonControlMode.Follower);
+    	_rightSlave.changeControlMode(TalonControlMode.Follower);
+    	_leftSlave.set(11); 							/* device IDs here (2 of 2) */
+    	_rightSlave.set(14);
+    	
+    	/* the Talons on the left-side of my robot needs to drive reverse(red) to move robot forward.
+    	 * Since _leftSlave just follows frontLeftMotor, no need to invert it anywhere. */
+    	_drive.setInvertedMotor(MotorType.kFrontLeft, true);
+    	_drive.setInvertedMotor(MotorType.kRearLeft, true);
+    }
+
+    /**
+     * This function is called periodically during operator control
+     */
+    public void teleopPeriodic() {
+    	double forward = _joy.getRawAxis(1); // logitech gampad left X, positive is forward
+    	double turn = _joy.getRawAxis(2); //logitech gampad right X, positive means turn right
+    	_drive.arcadeDrive(forward, turn);
+    }
+}