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

void Drive() {
    reset();
    left_motor.SetPercent(MOTOR_CORRECTION*DEFAULT_MOTOR_POWER);
    right_motor.SetPercent(DEFAULT_MOTOR_POWER);
    //using large number for isStall since there is no set distance
    while((top_right_micro.Value() || top_left_micro.Value()) && !isStall(10000)) {
        LCD.WriteRC(left_encoder.Counts(), 4, 5);
        LCD.WriteRC(right_encoder.Counts(), 5, 5);
    }
    reset();
}

void Drive(float inches) {
    reset();
    float start = TimeNow();
    left_motor.SetPercent(MOTOR_CORRECTION*DEFAULT_MOTOR_POWER);
    right_motor.SetPercent(DEFAULT_MOTOR_POWER);
    while ( right_encoder.Counts() <= DRIVE_CORRECTION * COUNTS_PER_INCH * inches && TimeNow() - start < 10 && !isStall(DRIVE_CORRECTION * COUNTS_PER_INCH * inches)) {
        LCD.WriteRC(left_encoder.Counts(), 4, 5);
        LCD.WriteRC(right_encoder.Counts(), 5, 5);
    }
    reset();
}

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