cod autonom

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package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.NormalizedRGBA;
import com.qualcomm.robotcore.util.ElapsedTime;
import com.qualcomm.robotcore.util.Range;


/**
 * This file contains an minimal example of a Linear "OpMode". An OpMode is a 'program' that runs in either
 * the autonomous or the teleop period of an FTC match. The names of OpModes appear on the menu
 * of the FTC Driver Station. When an selection is made from the menu, the corresponding OpMode
 * class is instantiated on the Robot Controller and executed.
 *
 * This particular OpMode just executes a basic Tank Drive Teleop for a two wheeled robot
 * It includes all the skeletal structure that all linear OpModes contain.
 *
 * Use Android Studios to Copy this Class, and Paste it into your team's code folder with a new name.
 * Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list
 */

@TeleOp(name="Test Color", group="Linear Opmode")
//@Disabled
public class autonom extends LinearOpMode {

    // Declare OpMode members.
    private ElapsedTime runtime = new ElapsedTime();

    HardwarePushbot robot = new HardwarePushbot();

    @Override
    public void runOpMode() {

        robot.init(hardwareMap);

        waitForStart();

        NormalizedRGBA colors = robot.colorSensor.getNormalizedColors();

        if(colors.red > colors.blue)
        {

            runtime.reset();

            while(runtime.seconds()< 0.25) {
                robot.leftDrive.setPower(-0.6);
                robot.rightDrive.setPower(-0.6);
            }

            robot.leftDrive.setPower(0);
            robot.rightDrive.setPower(0);
        } else if(colors.red < colors.blue)
        {
            runtime.reset();

            while(runtime.seconds()< 0.25) {
                robot.leftDrive.setPower(0.6);
                robot.rightDrive.setPower(0.6);
            }

            robot.leftDrive.setPower(0);
            robot.rightDrive.setPower(0);
        }



    }
}