Notifier notifier = new Notifier (() -> {
        double Loutput = left.calculate(Robot.mDriveTrain.getLeftDistanceRaw());
        double Routput = right.calculate(-Robot.mDriveTrain.getRightDistanceRaw());
        double gyro_heading = -Robot.mGyro.getYaw();    // Assuming the gyro is giving a value in degrees
        double desired_heading = Pathfinder.r2d(left.getHeading());  // Should also be in degrees
        angleDifference = Pathfinder.boundHalfDegrees(desired_heading - gyro_heading);
        turn = 1.2 * (-1.0/80.0) * angleDifference;
        SmartDashboard.putNumber("Desired Heading", desired_heading);
        SmartDashboard.putNumber("gyro_heading", gyro_heading);
        SmartDashboard.putNumber("Turn:", turn);
        Robot.mDriveTrain.tankDrive(-(Loutput + turn), -(Routput - turn), false);
        SmartDashboard.putNumber("Loutput", Loutput);
        SmartDashboard.putNumber("Routput", Routput);
        SmartDashboard.putBoolean("JaciFinished", false);
});