private void timeMove(double voltage, double seconds)	{
    	long milis = (long)(seconds * 1000);
    	long time = System.currentTimeMillis();
    	while (System.currentTimeMillis() < time + milis)	{
    		drive.GoForward(voltage);
    		if (System.currentTimeMillis() - time > 10)
    			try {
    				Thread.sleep(10);
    			} catch (Exception e) {}
    	}
    	drive.Stop();
    }