public void limitVelocity() {
        double leftR = left.enc.getRate();
        double rightR = right.enc.getRate();
        if (leftR > vel) {
            leftV -= INC;
        }
        if (rightR > vel) {
            rightV -= INC;
        } else if (leftR < vel && rightR < vel && leftV < GOAL_V && rightV < GOAL_V) {
            leftV += INC * 10;
            rightV += INC * 10;
        }
    }