@Override
protected void execute() {
double xVal = gyroP * (driveTrain.getAngle() - zeroAngle);
- double yVal = driveController.calcPID(driveTrain.getAvgEncoderDistance());
+ double yVal = driveController.calcPID(driveTrain.getRightEncoderDistance());
double leftDrive = yVal - xVal;
double rightDrive = yVal + xVal;