/**
   * ******************************
   *
   * <p>Configures motors: - Sets which side is inverted - Configures the secondary motors to be in
   * follow mode - Sets ramp rate
   *
   * <p>******************************
   */
  private void setupMotors() {
    leftMotor1.setInverted(invertLeft);
    leftMotor2.setInverted(invertLeft);
    rightMotor1.setInverted(invertRight);
    rightMotor1.setInverted(invertRight);

    leftMotor2.changeControlMode(CANTalon.TalonControlMode.Follower);
    leftMotor2.set(leftMotor1.getDeviceID());
    rightMotor2.changeControlMode(CANTalon.TalonControlMode.Follower);
    rightMotor2.set(rightMotor1.getDeviceID());

    leftMotor1.setVoltageRampRate(RAMP_RATE);
    rightMotor1.setVoltageRampRate(RAMP_RATE);
  }
 @Override
 public TalonSRX setVoltageRampRate(double rampRate) {
   talon.setVoltageRampRate(rampRate);
   return this;
 }