Return to heading FTC

 void ReturnToHeading(int MinHeading, int MaxHeading) {
        ForwardLeft.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        BackLeft.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        ForwardRight.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        BackRight.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);

        angles = imu.getAngularOrientation(AxesReference.INTRINSIC, AxesOrder.ZYX, AngleUnit.DEGREES);
        float zAxis = angles.firstAngle;

        //If this is a positive number, it means the inside distance from the right to the 0 heading
        while (zAxis < MinHeading) {
            angles = imu.getAngularOrientation(AxesReference.INTRINSIC, AxesOrder.ZYX, AngleUnit.DEGREES);
            zAxis = angles.firstAngle;
            ForwardLeft.setPower(.3); //These powers will make it turn to the left
            ForwardRight.setPower(-.3);
            BackLeft.setPower(.3);
            BackRight.setPower(-.3);
        }

        //if this is a negative number, it means the inside distance from the left to the 0 heading
        while (zAxis > MaxHeading) {
            angles = imu.getAngularOrientation(AxesReference.INTRINSIC, AxesOrder.ZYX, AngleUnit.DEGREES);
            zAxis = angles.firstAngle;
            ForwardLeft.setPower(-.3); //And these make it turn to the right
            ForwardRight.setPower(.3);
            BackLeft.setPower(-.3);
            BackRight.setPower(.3);
        }
    }