protected void execute() {
        if (m_timer == null){
            if (Robot.driveTrain.getRightCurrent() < 20 && Robot.driveTrain.getLeftCurrent() < 20){
                    Robot.driveTrain.voltageDrive(-7, -7);
                }else{
                    if(Timer.getFPGATimestamp()-m_startTime > 0.8){
                        m_timer = new Timer();
                        m_timer.start();
                    }
                }
        }else if (m_timer.get() < 1){
            Robot.driveTrain.voltageDrive(5, -12);
        }else{
            Robot.driveTrain.voltageDrive(-8, -8);
            setTimeout(0.5);
            m_finalStage = true;
        }
    }