double yVal = driveController.calcPID(driveTrain.getAvgEncoderDistance());
double leftDrive = yVal - xVal;
double rightDrive = yVal + xVal;
this.driveTrain.setMotorValues(leftDrive, rightDrive);
double yVal = driveController.calcPID(driveTrain.getAvgEncoderDistance());
double leftDrive = yVal - xVal;
double rightDrive = yVal + xVal;
this.driveTrain.setMotorValues(leftDrive, rightDrive);