goldmineralthing

public void displaceGoldMineralv2(){
        double strafeSpeed = 0.2;
        double STRAFE_BOUND = 12 * COUNTS_PER_INCH;
        double initialPos = robot.leftFrontDrive.getCurrentPosition();
        int refreshTick = 0;
        int scanCount = 0;

        robot.setDrivePower(-strafeSpeed, strafeSpeed, strafeSpeed, -strafeSpeed);

        while(opModeIsActive() && !robot.cv.getAligned()){
            if(refreshTick != 0) refreshTick--;
            if(robot.cv.isFound()) {
                strafeSpeed /= 2;
                robot.setDrivePower(-strafeSpeed, strafeSpeed, strafeSpeed, -strafeSpeed);
            }
            if(Math.abs(robot.leftFrontDrive.getCurrentPosition() - initialPos) > STRAFE_BOUND && refreshTick == 0){
                strafeSpeed = -strafeSpeed;
                robot.setDrivePower(-strafeSpeed, strafeSpeed, strafeSpeed, -strafeSpeed);
                scanCount++;
                refreshTick = 5000;
                if(scanCount > 2) break;
            }
        }
        robot.setDrivePower(0,0);
        robot.cv.disable();
        encoderDrive(0.3, -26, -26, 5);
        encoderDrive(0.3, 25, 25, 5);
        sleep(100);
//        encoderTurn(TURN_POWER, LANDER_OFFSET, 5);
    }