private void autonomous() {
    	double rotation = autoTurn;
        
        double[] speeds = new double[]{
           rotation*RobotMap.wheelSpeedEdit,-rotation*RobotMap.wheelSpeedEdit,rotation*RobotMap.wheelSpeedEdit,-rotation*RobotMap.wheelSpeedEdit
        };
        
        if(rotation != 0) for(int i = 0; i < 4; i++){ wheelSet[i].setSpeed(speeds[i]); }
        else for(int i = 0; i < 4; i++){ wheelSet[i].setSpeed(0); }
	}