def METHOD_NAME(rpmL, rpmR, distance):
    timeToWait = getTimeToWait(rpmL, rpmR, distance)
    if distance < 0:
        rpmL = -rpmL
        rpmR = -rpmR
    if _diffPortsSwapped:
        mbot2.drive_speed(-rpmR, rpmL)
    else:
        mbot2.drive_speed(rpmL, -rpmR)
    time.sleep(timeToWait)
    mbot2.EM_stop()