public double getThrottle(int which) { 
        switch(which){
            case 1:
                return leftDriveJoy.getZ();
            case 2:
                return rightDriveJoy.getZ();
            case 3:
                return leftJoy.getZ();
            case 4:
                return rightJoy.getThrottle();
        }       
        return 0;
    }