LeftRight Encoder function

public void leftRight(double power, double leftDist, double rightDist, int seconds) {

    int leftFrontDist, rightFrontDist, leftBackDist, rightBackDist;
    double correction;

      // if (opmode.opModeIsActive()) {

      int moveLeftTicks = (int) (leftDist * forwardTicks);
      int moveRightTicks = (int) (rightDist * forwardTicks);

      // DOES THIS DO ANYTHING

    /*   robot.leftFront.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
    robot.rightFront.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
    robot.leftBack.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
    robot.rightBack.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); */

      leftFrontDist = robot.leftFront.getCurrentPosition() + moveLeftTicks;
      rightFrontDist = robot.rightFront.getCurrentPosition() + moveRightTicks;
      leftBackDist = robot.leftBack.getCurrentPosition() + moveLeftTicks;
      rightBackDist = robot.rightBack.getCurrentPosition() + moveRightTicks;

      setTarget(power, leftFrontDist, rightFrontDist, leftBackDist, rightBackDist);
motionTimer.reset();
      // how long the motors should run
      while (opmode.opModeIsActive()&&(motionTimer.seconds() < seconds)
              && (robot.leftFront.isBusy()
              && robot.rightFront.isBusy()
              && robot.leftBack.isBusy()
              && robot.rightBack.isBusy())) {

          encoderData(leftFrontDist, rightFrontDist);
          opmode.telemetry.update();

          // find how much we should correct by


          // corrections
          robot.leftFront.setPower(power);
          robot.rightFront.setPower(power);
          robot.leftBack.setPower(power);
          robot.rightBack.setPower(power);
      }

      robot.stop();
      robot.setEncoders(true);
      opmode.sleep(stopTime);
      //  }
  }