Tank Drive Example

public class DriveSubsystem extends SubsystemBase {
    private final WPI_TalonFX frontRightMotor;
    private final WPI_TalonFX backRightMotor;
    private final WPI_TalonFX frontLeftMotor;
    private final WPI_TalonFX backLeftMotor;

    private final DifferentialDrive diffDrive;

    public DriveSubsystem() {
        frontRightMotor = new WPI_TalonFX(DriveConstants.frontRightMotorId);
        frontLeftMotor = new WPI_TalonFX(DriveConstants.frontLeftMotorId);
        backRightMotor = new WPI_TalonFX(DriveConstants.backRightMotorId);
        backLeftMotor = new WPI_TalonFX(DriveConstants.backLeftMotorId);

        MotorControllerGroup leftGroup = new MotorControllerGroup(frontLeftMotor, backLeftMotor);
        MotorControllerGroup rightGroup = new MotorControllerGroup(frontRightMotor, backRightMotor);

        diffDrive = new DifferentialDrive(leftGroup, rightGroup);
    }

    public void arcadeDrive(double speed, double turning) {
        diffDrive.arcadeDrive(speed, turning);
    }

    public void tankDrive(double left, double right) {
        diffDrive.tankDrive(left, right);
    }
}