[DominickC]

Here's how I would do it.

Place your Drive code within the first frame encased in a While loop. Have your motors run at a constant 0.7. Within this loop, get your camera distance, and wire the Stop condition to the comparison between the distance you are at and the distance you want. Once the ideal distance is achieved, the loop will terminate, moving onto the next frame containing the code which stops your drive motors.

Good luck!