+ // System.out.println("turn: " + xVal);
+ double leftDrive = MathLib.calcLeftTankDrive(-xVal, yVal);
+ double rightDrive = MathLib.calcRightTankDrive(xVal, -yVal);
+
+ this.driveTrain.setMotorValues(leftDrive, rightDrive);
+
+ System.out.println(driveTrain.getAvgEncoderDistance());
+ // System.out.println("motorval: " + yVal);