IMU sensor code not working

Programming Support
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1

My team is trying to use an Imu for our robot to make it more stable during autonomous but for the life of me I can’t figure out what is bugging the code. I think it might be something to do with the distance function? It turns the wheels around 1 degree before stopping. Here’s the code:
We’re using both PROS and Okapi

double howFarMoved(double start) {
	double currentPosition = driveMotor.get_position();
	double distanceMovedInRotations = currentPosition - start;
	double distanceMoved = distanceMovedInRotations * (4*3.14159265359);
	return distanceMoved;
}



void moveGyro(double distance, double voltage = 200) {
	//reset gyro
	gyro.tare();
	//turn on left and right sides
	drive->getModel()->left(voltage);
	drive->getModel()->right(voltage);
	double start = driveMotor.get_position();
	const double k1 = 0.1,k2=0.01;
	bool driving = true;
	double lastRotation = 0.0;

	while (driving) {
		//z axis points into ground
		//positive drift rate is clockwise drift
		double rotation = gyro.get_rotation();
		double driftRate = rotation - lastRotation;
		double correction = k1*driftRate + k2*rotation;
		
		drive->getModel()->left(voltage-correction);
		drive->getModel()->right(voltage+correction);

		double distanceTraveled = howFarMoved(start);

		if (distanceTraveled >= distance) {
			driving = false;
		}

		lastRotation = rotation;
	}

	drive->stop();
}