You code currently has the second configured joystick driving both of your motors with it's left y-axis... I don't think this is what you want.
Will give you more like "tank control" behavior. The power levels come from the joystick positions (0=center,-127=bottom,+127=top). Positive values move your motors forward, negative values more your motors in reverse.
ROBOTC Developer - SW Engineertfriez@robotc.net