//Overloaded reverse method to allow for no input (reverse until hit wall), one input (inches), or two inputs (inches and power)

void Reverse() {
    reset();
    float start = TimeNow();
    left_motor.SetPercent(-1*MOTOR_CORRECTION*DEFAULT_MOTOR_POWER);
    right_motor.SetPercent(-1*DEFAULT_MOTOR_POWER);

    const char* titles[] = { "Left Encoder: ", "Right Encoder: " };
    while(bottom_right_micro.Value() || bottom_left_micro.Value() && TimeNow() - start < 5) {
        LCD.WriteRC(left_encoder.Counts(), 4, 5);
        LCD.WriteRC(right_encoder.Counts(), 5, 5);
    }
    reset();
}

void Reverse(int inches) {
    reset();
    float start = TimeNow();
    left_motor.SetPercent(-1 * MOTOR_CORRECTION * DEFAULT_MOTOR_POWER);
    right_motor.SetPercent(-1 * DEFAULT_MOTOR_POWER);
    while ( right_encoder.Counts() <= DRIVE_CORRECTION * COUNTS_PER_INCH * inches && TimeNow() - start < 5) {
        LCD.WriteRC(left_encoder.Counts(), 4, 5);
        LCD.WriteRC(right_encoder.Counts(), 5, 5);
    }
    reset();
}

void Reverse(int inches, int motorPower) {
    reset();
    float start = TimeNow();
    left_motor.SetPercent(-1 * motorPower * MOTOR_CORRECTION);
    right_motor.SetPercent(-1 * motorPower);
    while ( right_encoder.Counts() <= DRIVE_CORRECTION * COUNTS_PER_INCH * inches && TimeNow() - start < 5) {
        LCD.WriteRC(left_encoder.Counts(), 4, 5);
        LCD.WriteRC(right_encoder.Counts(), 5, 5);
    }
    reset();
}

void ReverseSlant(int inches, int motorPower) {
    reset();
    float start = TimeNow();
    left_motor.SetPercent(-1 * MOTOR_CORRECTION * motorPower * 0.96);
    right_motor.SetPercent(-1 * motorPower);
    while ( right_encoder.Counts() <= DRIVE_CORRECTION * COUNTS_PER_INCH * inches && TimeNow() - start < 10) {
        LCD.WriteRC(left_encoder.Counts(), 4, 5);
        LCD.WriteRC(right_encoder.Counts(), 5, 5);
    }
    reset();
}