void drive_goto(int distLeft, int distRight)
Make each wheel go a particular distance. Recommended for straight forward, backward, turns and pivots. Not recommended for curves. This function ramps up to full speed if the distance is long enough. It holds that speed until it needs to ramp down. After ramping down it applies compensation. This function is primarily a convenience for dead reckoning, and does not return until the maneuver has completed.