becon detect

package org.firstinspires.ftc.teamcode;

import com.qualcomm.hardware.modernrobotics.ModernRoboticsI2cColorSensor;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;

/**
 * Created by Ori on 02/02/2017.
 */

public class beacone_detected_blue extends LinearOpMode{
    private HardWare11226 m_hardware = new HardWare11226();
    private boolean ranonce = false;


    @Override
    public void runOpMode() throws InterruptedException {
        m_hardware.init(hardwareMap);
        waitForStart();
        while (opModeIsActive() && !ranonce)
        {
            beaconDetect();
            ranonce = true;
        }
    }

    private int counter = 0 ;
    public void beaconDetect() {
        while (counter != 5 && counter != -5) {
            if (m_hardware.color_sensor.red() > m_hardware.color_sensor.blue() + 2) {
                counter--;
            } else if (m_hardware.color_sensor.blue() > m_hardware.color_sensor.red() + 2) {
                counter++;
            }
            idle();
        }

        if (counter == 5)
        {
            telemetry.addData("count", counter);
            telemetry.update();
            m_hardware.color_sensor.enableLed(true);
        } else if (counter == -5)
        {
            telemetry.addData("count", counter);
            telemetry.update();
            .enableLed(true);
            .enableLed(false);
        }
    }
}