How to use the pyfrc.physics.drivetrains.four_motor_drivetrain function in pyfrc

'''
            Called when the simulation parameters for the program need to be
            updated.
            
            :param now: The current time as a float
            :param tm_diff: The amount of time that has passed since the last
                            time that this function was called
        '''
        
        # Simulate the drivetrain
        lr_motor = hal_data['pwm'][1]['value']
        rr_motor = hal_data['pwm'][2]['value']
        lf_motor = hal_data['pwm'][3]['value']
        rf_motor = hal_data['pwm'][4]['value']
        
        speed, rotation = drivetrains.four_motor_drivetrain(lr_motor, rr_motor, lf_motor, rf_motor)
        self.physics_controller.drive(speed, rotation, tm_diff)

lfDict['analog_in_position']+=lWheelPercentVal
            rfDict['analog_in_position']+=rWheelPercentVal
              
            #armDict['enc_position'] = max(min(armDict['enc_position'], 1440), 0) # Keep encoder between these values
            self.armAct = max(min(self.armAct, 2764), 0)
            armDict['enc_velocity'] = ((self.armAct - self.prev_armAct) / tm_diff)/1440
            self.prev_armAct = self.armAct
        
        
        # Simulate the drivetrain
        lf_motor = -hal_data['CAN'][5]['value']/1023
        lr_motor = -hal_data['CAN'][10]['value']/1023
        rf_motor = -hal_data['CAN'][15]['value']/1023
        rr_motor = -hal_data['CAN'][20]['value']/1023
        
        fwd, rcw = four_motor_drivetrain(lr_motor, rr_motor, lf_motor, rf_motor, speed=5)
        if abs(fwd) > 0.1:
            rcw += -(0.2*tm_diff)
        
        self.controller.drive(fwd, rcw, tm_diff)
            
        # Simulate the camera approaching the tower
        # -> this is a very simple approximation, should be good enough
        # -> calculation updated at 15hz
        if self.camera_enabled and now - self.last_cam_update > self.camera_update_rate:
            
            x, y, angle = self.controller.get_position()
            
            tx, ty = self.target_location
            
            dx = tx - x
            dy = ty - y