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valInRange(float val, float threshold = 1.0)

• Tests if the the absolute value of the val parameter is less than the threshold and returns a boolean
• Threshold parameter default is 1.0

getEncoderAverage(int leftMotor, int rightMotor)

• Averages out the two paramters entered and returns a integer
• Failsafe if either left-side motor encoder or right-side motor encoder dies

setMotors(int left, int right)

• Sets the left-side drive motors to the first parameter entered and the right-side drive motors to the second parameter

stopMotors()

• Stops all of the drive motors

moveTo(int power, int deg, float threshold = 2.0, long time = 5000, float cor = 4.0)

• Moves the robot forward or backward the amount of degrees entered in the deg parameter at the power of the power parameter
• In order for the robot to move backward make the power and deg parameters negative
• The robot will correct its direction by changing motor speeds if the robot's drift in degrees gets out of the threshold parameter
• If the method runs for more than the time paratemeter the method will stop as a failsafe in case the encoders fail

turn(int power, int deg, int time = 5000)

• The robot will turn for the degrees given in the deg parameter on a point at the power of the power parameter
• The turn method only turns 45° and 90° currently
• If the method runs for more than the time parameter the method will stop for a failsafe if the gyro fails