public void velocityDrive()
    {
        frontLeftDrive.setVelocity(frontLeftPower*2600);
        frontRightDrive.setVelocity(frontRightPower*2600);
        backLeftDrive.setVelocity(backLeftPower*2600);
        backRightDrive.setVelocity(backRightPower*2600);
    }

        frontLeftDrive.setVelocityPIDFCoefficients(1.20, 0.126, 0, 12.6);
        frontRightDrive.setVelocityPIDFCoefficients(1.20, 0.126, 0, 12.6);
        backLeftDrive.setVelocityPIDFCoefficients(1.20, 0.126, 0, 12.6);
        backRightDrive.setVelocityPIDFCoefficients(1.20, 0.126, 0, 12.6);

    /**
     * Sets drivetrain zero power behavior to brake
     */
    public void setBrake ()
    {
        robot.frontLeftDrive.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
        robot.frontRightDrive.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
        robot.backLeftDrive.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
        robot.backRightDrive.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
    }

    /**
     * Sets drivetrain zero power behavior to float
     */
    public void setFloat ()
    {
        robot.frontLeftDrive.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
        robot.frontRightDrive.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
        robot.backLeftDrive.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
        robot.backRightDrive.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
    }