old_contents: import logging
  
  import wpilib
  from wpilib.command import Command
  
  import subsystems
  from rectifieddrive import RectifiedDrive
  
  
  class DriveBackward(Command):
      """
      Drives backward the given distance in inches.
      """
  
      def __init__(self, dist):
          super().__init__('Driving forward %d inches' % dist)
  
          self.requires(subsystems.motors)
  
          self.drive = RectifiedDrive(0, 0.05)
          self.timer = wpilib.Timer()
          self.timer.start()
  
          self.desired_dist = dist * 1024 / 18.85  # convert from inches to edges
          self.last_position = subsystems.motors.left_motor.getPosition()
          self.dist_traveled = 0  # in edges
  
          self.logger = logging.getLogger("robot")
  
      def execute(self):
          self.drive.rectified_drive(0.2, 0)
          self.timer.delay(0.05)
  
      def isFinished(self):
          # timeout after 10 seconds
          if self.timeSinceInitialized() > 3:
              return True
  
          position = subsystems.motors.left_motor.getPosition()
          self.logger.info("Encoder position:  {}".format(position))
          if position > self.last_position:
              self.dist_traveled += self.last_position + 1024 - position
          else:
              self.dist_traveled += self.last_position - position
          if self.dist_traveled >= self.desired_dist:
              return True
  
          self.last_position = position
          return False
  
      def end(self):
          # set outputs to 0 on end
          subsystems.motors.robot_drive.setLeftRightMotorOutputs(0, 0)
  
new_contents: import logging
  
  import wpilib
  from wpilib.command import Command
  
  import subsystems
  from rectifieddrive import RectifiedDrive
  
  
  class DriveBackward(Command):
      """
      Drives backward the given distance in inches.
      """
  
      def __init__(self, dist):
          super().__init__('Driving forward %d inches' % dist)
  
          self.requires(subsystems.motors)
  
          self.drive = RectifiedDrive(0, 0.05)
          self.timer = wpilib.Timer()
          self.timer.start()
  
          self.desired_dist = dist * 1024 / 18.85  # convert from inches to edges
          self.last_position = subsystems.motors.left_motor.getPosition()
          self.dist_traveled = 0  # in edges
  
          self.logger = logging.getLogger("robot")
  
      def execute(self):
          self.drive.rectified_drive(0.3, 0)
          self.timer.delay(0.05)
  
      def isFinished(self):
          # timeout after 10 seconds
          if self.timeSinceInitialized() > 3:
              return True
  
          position = subsystems.motors.left_motor.getPosition()
          self.logger.info("Encoder position:  {}".format(position))
          if position > self.last_position:
              self.dist_traveled += self.last_position + 1024 - position
          else:
              self.dist_traveled += self.last_position - position
          if self.dist_traveled >= self.desired_dist:
              return True
  
          self.last_position = position
          return False
  
      def end(self):
          # set outputs to 0 on end
          subsystems.motors.robot_drive.setLeftRightMotorOutputs(0, 0)
  
subject: increase DriveBackward speed