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+package org.team2168.commands;%0Aimport org.team2168.subsystems.*;%0Aimport org.team2168.*;%0Aimport java.math.*;%0A%0Apublic class MoveForwardXDistance extends CommandBase%7B%0A%0A%09Drivetrain driveTrain;%0A%09double feet;%0A%09%0A%09public MoveForwardXDistance(double feet)%0A%09%7B%0A%09%09this.feet = feet;%0A%09%7D%0A%09%0A%09%0A%09@Override%0A%09protected void end() %7B%0A%09%09// TODO Auto-generated method stub%0A%09%09%0A%09%7D%0A%0A%09@Override%0A%09protected void execute() %7B%0A%09%09// TODO Auto-generated method stub%0A%09%09%0A%09%09double startDistance = driveTrain.getEncoderDataDistance();%0A%09%09double endDistance = driveTrain.getEncoderDataDistance() + feet;%0A%09%09%0A%09%09if(startDistance %3C endDistance)%0A%09%09%7B%0A%09%09%09while(startDistance %3C endDistance)%0A%09%09%09%7B%0A%09%09%09%09%0A%09%09%09%09driveTrain.driveRight(6);%0A%09%09%09%09driveTrain.driveLeft(6);%0A%09%09%09%09%0A%09%09%09%09startDistance = driveTrain.getEncoderDataDistance();%0A%09%09%09%09%0A%09%09%09%7D%0A%09%09%7Delse%0A%09%09%7B%0A%09%09%09while(startDistance %3E endDistance)%0A%09%09%09%7B%0A%09%09%09%09driveTrain.driveLeft(-6);%0A%09%09%09%09driveTrain.driveRight(-6);%0A%09%09%09%09startDistance = driveTrain.getEncoderDataDistance();%0A%09%09%09%7D%0A%09%09%7D%0A%09%09%0A%09%09driveTrain.stopDrivetrain();%0A%09%09%0A%09%7D%0A%0A%09@Override%0A%09protected void initialize() %7B%0A%09%09// TODO Auto-generated method stub%0A%09%09driveTrain = new Drivetrain();%0A%09%7D%0A%0A%09@Override%0A%09protected void interrupted() %7B%0A%09%09// TODO Auto-generated method stub%0A%09%09%0A%09%7D%0A%0A%09@Override%0A%09protected boolean isFinished() %7B%0A%09%09// TODO Auto-generated method stub%0A%09%09return false;%0A%09%7D%0A%0A%7D%0A

Create DriveForwardXDistance.java