public void strafe(int distance, Strafe direction, double speed, double timeOut, double sleepTime) {
        driveTrain.setClosedLoop(true);
        driveTrain.resetEncoders();
        int targetClicks = (int)(distance * CLICKS_PER_INCH);
        int clicksRemaining = targetClicks;
        double power, intergral = 0, deriviteve, timeChange, previousTime = 0, previousClicksRemaining = clicksRemaining;
        MasqClock timeoutTimer = new MasqClock();
        do {
            timeChange = System.nanoTime() - previousTime;
            previousTime = System.nanoTime();
            timeChange /= 1e9;
            clicksRemaining = (int) (targetClicks - Math.abs(driveTrain.getCurrentPosition()));
            intergral += clicksRemaining * timeChange;
            deriviteve = (clicksRemaining - previousClicksRemaining) / timeChange;
            power = (clicksRemaining / targetClicks) * speed;
            power += (intergral * MasqExternal.KI.DRIVE) + (deriviteve * MasqExternal.KD.DRIVE);
            driveTrain.leftDrive.motor1.setPower(power * direction.value[0]);
            driveTrain.rightDrive.motor1.setPower(power * direction.value[1]);
            driveTrain.rightDrive.motor2.setPower(power * direction.value[2]);
            driveTrain.leftDrive.motor2.setPower(power * direction.value[3]);
        } while (opModeIsActive() && clicksRemaining > 0.5 && !timeoutTimer.elapsedTime(timeOut, MasqClock.Resolution.SECONDS));
        sleep(sleepTime);
    }
    public void strafe(int distance, Strafe direction, double speed, double timeOut) {
        strafe(distance, direction, speed, timeOut, MasqExternal.DEFAULT_SLEEP_TIME);
    }
    public void strafe(int distance, Strafe direction, double speed) {
        strafe(distance, direction, speed, MasqExternal.DEFAULT_TIMEOUT, MasqExternal.DEFAULT_SLEEP_TIME);
    }
    public void strafe(int distance, Strafe direction) {
        strafe(distance, direction, 0.7, MasqExternal.DEFAULT_TIMEOUT, MasqExternal.DEFAULT_SLEEP_TIME);
    }