public boolean isTurnDone() {
   System.out.println(
       "is turn done "
           + turnPID.onTarget()
           + " deg="
           + RobotMap.roundtoTwo(gyro.getAngle())
           + " out="
           + RobotMap.roundtoTwo(turnPID.get())
           + " err="
           + RobotMap.roundtoTwo(turnPID.getError()));
   return turnPID.onTarget();
 }
 public boolean isDistDone() {
   return distPID.onTarget();
 }