COLOR

package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.hardware.ColorSensor;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.Servo;

/**
 * Created by FTC-computer on 1/24/2018.
 */

public class COLOR extends LinearOpMode {
    int redtimes = 0;
    int bluetimes = 0;

    private int ColorContinuation = 0;


    private ColorSensor colorSensor = null;

    private Servo Vservo = null;
    private Servo Hservo = null;

    @Override
    public void runOpMode() throws InterruptedException {
        colorSensor = hardwareMap.get(ColorSensor.class, "color_sensor");
        colorSensor.enableLed(true);
        Hservo = hardwareMap.get(Servo.class, "horizontal_servo");
        Vservo = hardwareMap.get(Servo.class, "vertical_servo");
    }

    public void RedAll()
    {
        Hservo.setPosition(0.5);
        sleep(300);
        Vservo.setPosition(0.6);
        sleep(1000);

        while (ColorContinuation < 36)
        {
            if (colorSensor.red() > colorSensor.blue())
            {
                redtimes++;
                ColorContinuation++;
            }
            else
            {
                bluetimes++;
                ColorContinuation++;
            }
        }

        if (redtimes > bluetimes)
        {
            Hservo.setPosition(0);
            sleep(750);
            telemetry.addData("recognized color: ", "red");
            telemetry.update();
            Hservo.setPosition(0.4);
        }
        else
        {
            Hservo.setPosition(1);
            sleep(750);
            telemetry.addData("recognized color: ", "blue");
            telemetry.update();
            Hservo.setPosition(0.6);
        }

        Hservo.setPosition(0.5);
        sleep(100);
        Vservo.setPosition(0);
        sleep(3000);
    }

}