Set up an x-drive with Okapi

Our team just started using Okapi today and we’re having difficulty on setting up an x drive

This is the documentation for an x-drive in okapi that I found at this link: https://okapilib.github.io/OkapiLib/classokapi_1_1XDriveModel.html
Screen Shot 2020-12-05 at 9.37.33 PM

I’m sure it’s not supposed to work if I just copy and paste it, but I’m not sure what to change.
Screen Shot 2020-12-05 at 9.39.32 PM

This is one of the errors that I get and I’m not sure what to do about it.
Screen Shot 2020-12-05 at 9.39.40 PM

One other thing: This is how our team used to set up our motors. Can we still do this with okapi or do I have to do something different since I’m creating a chassis or something with okapi?
Screen Shot 2020-12-05 at 9.44.30 PM

Thank you so so much for any help!