B1MoveFoundation6128Red2.java

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package org.firstinspires.ftc.teamcode;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.util.ElapsedTime;

@Autonomous(name = "MoveFoundation6128Red2", group = "Official")
//@Disabled
public class B1MoveFoundation6128Red2 extends LinearOpMode {
    //start position B1, park outside along the wall


    //basic set up  code for search: 1001
    private static final double DRIVE_SPEED = .4, TURN_SPEED = .4, SIDE_SPEED = .3;
    private ElapsedTime runtime = new ElapsedTime();
    private Config6128 robot = new Config6128(this);

    public void runOpMode() {
        //basic set up code1001
        robot.ConfigureRobtHardware();
        robot.resetMotorsForAutonomous(robot.left_back, robot.left_front, robot.right_back, robot.right_front);

        robot.status("ready");
        robot.team=-1;
        waitForStart();

        robot.DriveForward(DRIVE_SPEED, 6, 2);
        sleep(1000);
        robot.servo_2.setPosition(robot.r2_out);
        robot.DriveLeft(SIDE_SPEED, -20*robot.team, 3);
        sleep(1000);
        robot.servo_2.setPosition(robot.r2_in);
        robot.servo_3.setPosition(robot.l3_in);
        robot.TurnByImu(TURN_SPEED, 0 * robot.team, 2);
        sleep(1000);
        robot.DriveForward(DRIVE_SPEED, 27, 3);
        robot.DriveForward(0.2,4,0.5);
        sleep(1000);
        robot.LiftUp(-0.4,0.5);
        sleep(500);
        robot.DriveForward(0.3, -40, 3);
        robot.LiftUp(0.4,1);
        sleep(2000);
        robot.DriveForward(DRIVE_SPEED,1,1);
        robot.TurnByImu(TURN_SPEED, 0, 2);
        robot.DriveLeft(SIDE_SPEED, 50 *robot.team, 4);
        robot.LiftUp(-0.4, 0.5 );
        robot.DriveLeft(SIDE_SPEED, 30 *robot.team, 4);
        //robot.TurnByImu(TURN_SPEED, 90*robot.team, 2);+
        /*robot.lift_left.setPower(-0.4);
        robot.lift_right.setPower(-0.4);
        runtime.reset();
        while (opModeIsActive() && (runtime.seconds() < 0.5)) {
            telemetry.addData("Path", "Leg 1: %2.5f S Elapsed", runtime.seconds());
            telemetry.update();
        }
        robot.lift_left.setPower(0);
        robot.lift_right.setPower(0);
        robot.TurnByImu(TURN_SPEED, 90*robot.team, 2);
        robot.DriveForward(DRIVE_SPEED,,2);*/


    }
}