public double getXSpeed(int which) {
        //return leftJoy.getRawAxis(4); ??
        switch(which){
            case 1:
                return leftDriveJoy.getX();
            case 2:
                return rightDriveJoy.getX();
            case 3:
                return leftJoy.getX();
            case 4:
                return rightJoy.getX();
        }
        return 0;
    }