I want a robot to move forward 10cm.
Required for the motor rotation angle can be calculated by the following.
360 × 10 ÷ 17.9 = 201.1 ...
About 201 degrees. 10cm should proceed with this angle.
So, let's run the program.

Rotation of the motor is stopped. Works but it seems ....

It is supposed to be 10cm, but 12.5cm by measuring a ruler. What was wrong with this time? Perhaps the motor would not be stopped until it actually stop the motor. In this case without measures, just use the result.

Here is a program that 10cm (actually 12cm) to move forward. It has been monitoring the two motors with the task.
[DOWNLOAD] Program was created (for Robolab2.9)