Just to let you know I am trying to control all my robots motors and encoders in a single function. It is not going so well obviously since I am starting a forum. This code is supposed to work that function void move has parameters that are leftMotorSpeed, rightMotorSpeed, leftMotorDistance, and rightMotorDistance. Left and Right motor speed control the motor's speed. The other parameters represent the number of ticks the motors are supposed to tick. When they reach a certain amount of ticks the function returns. As should the loop function.