public class DrivetrainSubsystem extends Subsystem {

    private TalonSRX leftMaster;
    private TalonSRX rightMaster;

    private CANSparkMax leftSpark;
    private CANSparkMax rightSpark;

    public DrivetrainSubsystem() {
        this.leftMaster = new TalonSRX(0);
        this.rightMaster = new TalonSRX(1);

        this.leftMaster.configNominalOutputForward(0);
        this.leftMaster.configNominalOutputReverse(0);
        this.leftMaster.configPeakOutputForward(1);
        this.leftMaster.configPeakOutputReverse(-1);
        this.rightMaster.configNominalOutputForward(0);
        this.rightMaster.configNominalOutputReverse(0);
        this.rightMaster.configPeakOutputForward(1);
        this.rightMaster.configPeakOutputReverse(-1);

        this.leftSpark = new CANSparkMax(10, CANSparkMaxLowLevel.MotorType.kBrushless);
        this.leftSpark.follow(CANSparkMax.ExternalFollower.kFollowerPhoenix, 0, false);

        this.rightSpark = new CANSparkMax(11, CANSparkMaxLowLevel.MotorType.kBrushless);
        this.rightSpark.follow(CANSparkMax.ExternalFollower.kFollowerPhoenix, 1, true);
    }

    @Override
    protected void initDefaultCommand() {
        this.setDefaultCommand(new DriveCommand());
    }

    public void drive(double left, double right) {
        this.leftMaster.set(ControlMode.PercentOutput, left);
        this.rightMaster.set(ControlMode.PercentOutput, right);
    }

}