The code associated with moving a particular distance or turning a particular amount is currently spread across several classes. It should be centralized, probably in the associated commands. For example, the moveController and turnController objects should be moved out of Drivetrain and into the commands.
brettle
commented
6 years ago 
The code associated with moving a particular distance or turning a particular amount is currently spread across several classes. It should be centralized, probably in the associated commands. For example, the moveController and turnController objects should be moved out of Drivetrain and into the commands.