[JamesB]

This is all the code to make our robot move forward the specified feet. leftMot is on id 4, rightMot is on id 3 and diameter is just a constant.
void driveFeet(double feet=10,double speed=.5){
leftMot->SetPosition(0);
rightMot->SetPosition(0);
rightMot->SetControlMode(rightMot->kFollower);
rightMot->Set(4);
double distance=abs(feet/(3.1415*diameter)*1000.0);
while(abs(leftMot->GetEncPosition())<distance){
leftMot->Set((feet>0?speed:-speed)*(1-(abs(leftMot->GetEncPosition())/distance)));
}
leftMot->Set(0);
}