protected void execute() {
        double left  = Robot.driveTrain.getLeftDistance(),
               right = Robot.driveTrain.getRightDistance();
        
        if(Math.abs(_goal-left) > Math.abs(_goal-right)) {
            _dist = left;
        }
        else {
            _dist = right;
        }
	
        
        if (_goal > 0) {
            _driveTrain.tankDrive(_driveSpeed, _driveSpeed);
        }
        else {
            _driveTrain.tankDrive(-_driveSpeed, -_driveSpeed);
        }
    }