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if (leftticks < rampdownticks){ int difference = -180 - (leftticks - rampdownticks); leftspeed = interpolate(difference, 0, -180, -40, DRIVE_SPEED_MIN); }
if (leftticks > rampdownticks){ int difference = 180 - (leftticks - rampdownticks); leftspeed = interpolate(difference, 0, 180, 40, DRIVE_SPEED_MAX); }
if (leftticks < rampdownticks)leftspeed = interpolate(leftticks, rampdownticks, backtotaldistanceticks, -40, DRIVE_SPEED_MIN);