AutoParkOnly.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 = "ParkOnly", group = "Official")
//@Disabled
public class AutoParkOnly extends LinearOpMode {
    //start position B1, park outside along the wall

    private ElapsedTime runtime = new ElapsedTime();
    //basic set up  code for search: 1001
    private static final double DRIVE_SPEED = .5, TURN_SPEED = .4, SIDE_SPEED = .3;

    private Config7935 robot = new Config7935(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");
        waitForStart();

        runtime.reset();
        robot.lift.setPower(-1);//negative is up

        while (opModeIsActive() && (runtime.seconds() < 0.6)) {
            telemetry.addData("Path", "Leg 1: %2.5f S Elapsed", runtime.seconds());
            telemetry.update();
        }
        robot.lift.setPower(0);

        while(robot.lift_sensor.getState()==true){
            robot.lift.setPower(0.7);
        }
        robot.lift.setPower(0);

        robot.DriveForward(DRIVE_SPEED, 30,2);
        //robot.DriveForward(DRIVE_SPEED, 8,2);
        sleep(1000);
        robot.TurnByImu(TURN_SPEED,-90*robot.team,2);
        sleep(1000);
        robot.DriveForward(DRIVE_SPEED,28,2);
        sleep(1000);
        //robot.DriveLeft(SIDE_SPEED,7*robot.team,2);
        //sleep(1000);



    }

}