Robot Movement

The most basic of our code but the most simplified.

public void movefb(double power, double distance, double direction) {
        if (getAngle() < -1){ //turn left
            tl.setPower(-(power - (0.01 * getAngle())));
            tr.setPower((power + (0.01 * getAngle())));
            bl.setPower(-(power - (0.01 * getAngle())));
            br.setPower((power + (0.01 * getAngle())));
        } else if (getAngle() > 1){ //turn right
            tl.setPower(-(power - (0.01 * getAngle())));
            tr.setPower((power + (0.01 * getAngle())));
            bl.setPower(-(power - (0.01 * getAngle())));
            br.setPower((power + (0.01 * getAngle())));
        } else {
            if (direction > 0) {
                tl.setPower(power);
                tr.setPower(-power);
                bl.setPower(power);
                br.setPower(-power);
            } else if (direction < 0) {
                tl.setPower(-power);
                tr.setPower(power);
                bl.setPower(-power);
                br.setPower(power);
            } else {
                telemetry.addData("WARNING, THERE IS AN ERROR IN THE USAGE OF THE DIRECTION FUNCTION, DIRECTION IS", direction);
            }

        }
    }

    // deprecated
    public void turn(double power, double angle, double direction) {
        if (direction > 0) {
            tl.setPower(-(power - (0.01 * angle)));
            tr.setPower((power + (0.01 * angle)));
            bl.setPower(-(power - (0.01 * angle)));
            br.setPower((power + (0.01 * angle)));
        }
        if (direction < 0) {
            tl.setPower(-(-(power - (0.01 * angle))));
            tr.setPower(-((power + (0.01 * angle))));
            bl.setPower(-(-(power - (0.01 * angle))));
            br.setPower(-((power + (0.01 * angle))));
        }
        if (direction == 0) {
            telemetry.addData("THERE IS A PROBLEM WITH THE DIRECTION IN THE TURN FUNCTION", direction);
        }
    }

    public void strafe(double power, double distance, double direction) {
        if (direction > 0) {
            tl.setPower(power);
            tr.setPower(power);
            bl.setPower(power);
            br.setPower(power);
        } else if (direction < 0) {
            tl.setPower(-power);
            tr.setPower(-power);
            bl.setPower(-power);
            br.setPower(-power);
        } else {
            telemetry.addData("THERE IS A PROBLEM IN THE DIRECTION FOR THE strafe() FUNCTION", direction);
        }

    }