void turnLeft() {
    reset();
    right_motor.SetPercent(TURNING_POWER);
    left_motor.SetPercent(-1 * TURNING_POWER);
    while (left_encoder.Counts() < 280 && right_encoder.Counts() < 280) {
        LCD.WriteRC(left_encoder.Counts(), 4, 5);
        LCD.WriteRC(right_encoder.Counts(), 5, 5);
    }
    reset();
}

void turnLeft(float degrees) {
    reset();
    left_motor.SetPercent(-1 * TURNING_POWER);
    right_motor.SetPercent(TURNING_POWER);
    while (left_encoder.Counts() < (TURN_COUNT / 90) * degrees && right_encoder.Counts() < (TURN_COUNT / 90) * degrees) {
        LCD.WriteRC(left_encoder.Counts(), 4, 5);
        LCD.WriteRC(right_encoder.Counts(), 5, 5);
    }
    reset();
}

void turnRight() {
    reset();
    left_motor.SetPercent(TURNING_POWER);
    right_motor.SetPercent(-1 * TURNING_POWER);
    while (left_encoder.Counts() < TURN_COUNT && right_encoder.Counts() < TURN_COUNT) {
        LCD.WriteRC(left_encoder.Counts(), 4, 5);
        LCD.WriteRC(right_encoder.Counts(), 5, 5);
    }
    reset();
}

void turnRight(float degrees) {
    reset();
    left_motor.SetPercent(TURNING_POWER);
    right_motor.SetPercent(-1 * TURNING_POWER);
    while (left_encoder.Counts() < (TURN_COUNT / 90) * degrees && right_encoder.Counts() < (TURN_COUNT / 90) * degrees) {
        LCD.WriteRC(left_encoder.Counts(), 4, 5);
        LCD.WriteRC(right_encoder.Counts(), 5, 5);
    }
    reset();
}