Trying to create a code for teleop only basic tank drive with controller

Drivetrain.java

package frc.robot;

import com.ctre.phoenix.motorcontrol.ControlMode;
import com.ctre.phoenix.motorcontrol.can.TalonSRX;

import edu.wpi.first.wpilibj.command.Subsystem;

public class Drivetrain extends Subsystem {
    private TalonSRX motorLeft1 = new TalonSRX(RobotMap.MOTOR_LEFT_1_ID);
    private TalonSRX motorLeft2 = new TalonSRX(RobotMap.MOTOR_LEFT_2_ID);
    private TalonSRX motorRight1 = new TalonSRX(RobotMap.MOTOR_RIGHT_1_ID);
    private TalonSRX motorRight2 = new TalonSRX(RobotMap.MOTOR_RIGHT_2_ID);



    @Override
    public void initDefaultCommand() {
        setDefaultCommand(new TankDrive());

    }

    public void setLeftMotors(double speed) {
        motorLeft1.set(ControlMode.PercentOutput, -speed);
        motorLeft2.set(ControlMode.PercentOutput, -speed);
    }

    public void setRightMotors(double speed) {
        motorRight1.set(ControlMode.PercentOutput, speed);
        motorRight2.set(ControlMode.PercentOutput, speed);
    }


}

Main.java

/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

package frc.robot;

import edu.wpi.first.wpilibj.RobotBase;

/**
 * Do NOT add any static variables to this class, or any initialization at all.
 * Unless you know what you are doing, do not modify this file except to
 * change the parameter class to the startRobot call.
 */
public final class Main {
  private Main() {
  }

  /**
   * Main initialization function. Do not perform any initialization here.
   *
   * <p>If you change your main robot class, change the parameter type.
   */
  public static void main(String... args) {
    RobotBase.startRobot(frc.robot.Robot::new);
  }
}

OI.java

package frc.robot;

import edu.wpi.first.wpilibj.XboxController;

public class OI {
    
    private XboxController driverController = new XboxController(RobotMap.DRIVER_CONTROLLER);

    public double GetDriverRawAxis(int axis){
        return driverController.getRawAxis(axis);

    }

    
}

Robot.java

package frc.robot;

import edu.wpi.first.wpilibj.SampleRobot;
import edu.wpi.first.wpilibj.Talon;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Timer;

@SuppressWarnings("deprecation")

public class Robot extends SampleRobot 
{
    DifferentialDrive   robotDrive;
    Talon               motorLeft, motorRight;
    Joystick            stick;

    /**
     * Constructor. Called once when this class is created.
     */
    public Robot() 
    {
        System.out.println("Robot.constructor()");
    }
    
    /**
     * Called once after class load complete.
     * Use to perform any needed initializations.
     * Very similar to the constructor.
     */
    public void robotInit() 
    {
        System.out.println("Robot.robotInit()");
 
        // Create two PWM Talon motor controller objects for left & right motors on PWM ports 0 & 1.
        // Assumes robot has two motors controlled by Talon controllers connected via PWM.
        // Add them to a drive controller class that can do tank and arcade driving based on
        // joystick input.

        motorLeft = new Talon(0);
        motorRight = new Talon(1);

        robotDrive = new DifferentialDrive(motorLeft, motorRight);  
        
        robotDrive.setExpiration(0.1);   // need to see motor input at least every 
                                         // 10th of a second or stop motors.

        // One side has motors reversed so the wheels turn in the same direction.
        robotDrive.setRightSideInverted(false);

        stick = new Joystick(0);         // joystick on usb port 0.
   }

    /**
     * Executes a simple autonomous program.
     * Called by the driver station or field control system at the
     * start of the autonomous period.
     */
    public void autonomous() 
    {
        System.out.println("Robot.autonomous()");

        robotDrive.setSafetyEnabled(false);     // motor safety off due to the fact
                                                // we want the motor to run 2 sec
                                                // with no other input.

        robotDrive.tankDrive(0.5, 0.5);         // drive forwards half speed
        Timer.delay(2.0);                       //    for 2 seconds.
        robotDrive.tankDrive(0.0, 0.0);         // stop motors.
    }

    /**
     * Runs the motors with arcade steering, input from joystick.
     * Called by the driver station or field control system at the
     * start of the operator control (teleop) period. Runs in a loop
     * until robot is disabled.
     */
    public void operatorControl() 
    {
        System.out.println("Robot.operatorControl()");

        robotDrive.setSafetyEnabled(true);   // motor safety back on.
    
        while (isOperatorControl() && isEnabled()) 
        {
            robotDrive.arcadeDrive(stick.getX(), stick.getY());   // drive with arcade style.

            Timer.delay(0.020);             // wait for a joystick update.
        }
    }
    
    /**
     * Called whenever the robot is disabled by the DS or field control.
     * Use to perform any needed resets or changes when switching between modes.
     */
    public void disabled()
    {
        System.out.println("Robot.disabled()");
    }

    /**
     * Runs during test mode
     */
    public void test() 
    {
        System.out.println("Robot.test()");
    }
}

RobotMap.java

package frc.robot;

public class RobotMap {

	public static final int MOTOR_LEFT_1_ID = 0;
	public static final int MOTOR_LEFT_2_ID = 0;
	public static final int MOTOR_RIGHT_1_ID = 0;
	public static final int MOTOR_RIGHT_2_ID = 0;
	public static final int DRIVER_CONTROLLER = 0;
	public static final int LEFT_STICK_Y = 1;
	public static final int RIGHT_STICK_Y = 5;

}

TankDrive.java

package frc.robot;

import edu.wpi.first.wpilibj.command.Command;

public class TankDrive extends Command {
    public TankDrive(){
        requires(Robot.driveTrain);
    }

    @Override
    protected void initialize(){
        
    }

    @Override
    protected void execute(){
        double leftStickY = Robot.m_oi.GetDriverRawAxis(RobotMap.LEFT_STICK_Y);
        double RightStickY = Robot.m_oi.GetDriverRawAxis(RobotMap.RIGHT_STICK_Y);

        Robot.driveTrain.setLeftMotors(leftStickY);
        Robot.driveTrain.setRightMotors(RightStickY);
    }

    @Override
    protected boolean isFinished(){
        return false;

    }

    @Override
    protected void end(){
        Robot.driveTrain.setLeftMotors(0);
        Robot.driveTrain.setRightMotors(0);
    }

    @Override
    protected void interrupted(){
        this.end();
    }
}