float convert(float inches)
{
  //In this part, you convert the inches to encoder rotations and you return that value//
  return (inches* 140);
}

//You can use this function to move the robot a set amount of inches with a set speed//
void goInches(float inches, int speed)
{
  //reset the encoders...
  nMotorEncoder[RightDrive] = 0;
  //start up the motors...
  motor[LeftDrive] = speed;
  motor[RightDrive] = speed;
  //you go move until you reach the desired amount of encoder counts...
  while (abs(nMotorEncoder[RightDrive]) < (convert(inches)) || abs(nMotorEncoder[LeftDrive]) < (convert(inches))){ }
  //You stop the motors after the while loop...
  motor[LeftDrive] = 0;
  motor[RightDrive] = 0;
  wait1Msec (1000);
}