public void equalizeVelocity() {
        double d = diffPos();
        if (d < 0.0) {
            leftV += INC;
        } else if (d > 0.0) {
            rightV += INC;
        }

        if (leftV > GOAL_V) {
            rightV -= (leftV - GOAL_V);
            leftV = GOAL_V;
        }
        if (rightV > GOAL_V) {
            leftV -= (rightV - GOAL_V);
            rightV = GOAL_V;
        }
    }