void DriveLine()
{
    left_motor.SetPercent(MOTOR_CORRECTION * 20);
    right_motor.SetPercent(20);
    float start = TimeNow();
    while (determineStateBlack() == CENTER && TimeNow() - start < 1) {
        LCD.WriteRC(left_encoder.Counts(), 4, 5);
        LCD.WriteRC(right_encoder.Counts(), 5, 5);
    }
    left_motor.Stop();
    right_motor.Stop();
}

void turnLeftLine()
{
    right_motor.SetPercent(0);
    left_motor.SetPercent(10);
    float start = TimeNow();
    while (determineStateBlack() == RIGHT && TimeNow() - start < 1) {
        LCD.WriteRC(left_encoder.Counts(), 4, 5);
        LCD.WriteRC(right_encoder.Counts(), 5, 5);
    }
    left_motor.Stop();
    right_motor.Stop();
}

void turnRightLine()
{
    left_motor.SetPercent(0);
    right_motor.SetPercent(10);
    float start = TimeNow();
    while (determineStateBlack() == LEFT && TimeNow() - start < 1) {
        LCD.WriteRC(left_encoder.Counts(), 4, 5);
        LCD.WriteRC(right_encoder.Counts(), 5, 5);
    }
    left_motor.Stop();
    right_motor.Stop();
}