auto blue, and red front have been made not tested but values switched

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Autonomoustest.java

@@ -245,34 +245,34 @@ public class Autonomoustest extends LinearOpMode {
     }
     public void testGripper()
     {
-        gripper.setPosition(0);
+        gripper.setPosition(0.5);
-        sleep(3000);
+
-        gripper.setPosition(1);
-        sleep(3000);
     }
     public void executeAuto()
         {
             arm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+            gripper.setPosition(1);
+            sleep(1000);
             driveForward(28);
             int blueleft = readColorLeft();
             int blueright = readColorRight();
             double backboard = 29;
-           if (blueleft > 100)
+           if (blueleft > 75)
            {
                //telemetry.addData("color sensor","left");
                if(blueleft > blueright)
                    telemetry.addData("color sensor","left");
                turnLeft(90);
                straightLeft(2);
-               driveForward(8);
+               driveForward(6.5);
-               raisearm(30);
+               raisearm(80);
                arm.setPower(0);
                driveForward(-23);
                straightLeft(32);
                turnLeft(10);
                driveForward(18);
                driveForward(-31);
-               straightRight(34);
+               straightRight(31.5);
                raisearm(80);
                wrist.setPosition(0);
                raisearm(100);
@@ -284,12 +284,12 @@ public class Autonomoustest extends LinearOpMode {
 
 
            }
-           if (blueright > 100)
+           if (blueright > 175)
            {
                if(blueleft < blueright)
                    telemetry.addData("color sensor","right");
-               straightRight(8);
+               straightRight(11);
-               raisearm(30);
+               raisearm(80);
                arm.setPower(0);
                driveForward(-13.5);
                turnLeft(90);
@@ -309,11 +309,11 @@ public class Autonomoustest extends LinearOpMode {
            else
                telemetry.addData("position","center");
            driveForward(4);
-           raisearm(30);
+           raisearm(80);
             arm.setPower(0);
-            driveForward(-6);
+            driveForward(-8);
             straightRight(11.5);
-            driveForward(-17);
+            driveForward(-15);
             turnLeft(90);
             straightLeft(15);
             driveForward(8);
@@ -322,7 +322,6 @@ public class Autonomoustest extends LinearOpMode {
             raisearm(80);
             wrist.setPosition(0);
             raisearm(100);
-            driveForward(-5);
             gripper.setPosition(.25);
            telemetry.update();
             sleep(250);

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/bluefront.java

@@ -289,10 +289,9 @@ public class bluefront extends LinearOpMode {
                 telemetry.addData("color sensor","right");
             turnRight(90);
             straightLeft(2);
-            driveForward(8);
             raisearm(30);
             arm.setPower(0);
-            driveForward(-23);
+            driveForward(-15);
             straightRight(32);
             turnRight(10);
             driveForward(18);
@@ -309,7 +308,7 @@ public class bluefront extends LinearOpMode {
         }
         else
             telemetry.addData("position","center");
-        driveForward(4);
+        driveForward(11);
         raisearm(30);
         arm.setPower(0);
         driveForward(-6);

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/colorsense.java

@@ -0,0 +1,183 @@
+/* Copyright (c) 2017 FIRST. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted (subject to the limitations in the disclaimer below) provided that
+ * the following conditions are met:
+ *
+ * Redistributions of source code must retain the above copyright notice, this list
+ * of conditions and the following disclaimer.
+ *
+ * Redistributions in binary form must reproduce the above copyright notice, this
+ * list of conditions and the following disclaimer in the documentation and/or
+ * other materials provided with the distribution.
+ *
+ * Neither the name of FIRST nor the names of its contributors may be used to endorse or
+ * promote products derived from this software without specific prior written permission.
+ *
+ * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
+ * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+ * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.hardware.ColorSensor;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+import com.qualcomm.robotcore.hardware.Servo;
+import com.qualcomm.robotcore.util.ElapsedTime;
+
+/**
+ * This file illustrates the concept of driving a path based on encoder counts.
+ * The code is structured as a LinearOpMode
+ *
+ * The code REQUIRES that you DO have encoders on the wheels,
+ *   otherwise you would use: RobotAutoDriveByTime;
+ *
+ *  This code ALSO requires that the drive Motors have been configured such that a positive
+ *  power command moves them forward, and causes the encoders to count UP.
+ *
+ *   The desired path in this example is:
+ *   - Drive forward for 48 inches
+ *   - Spin right for 12 Inches
+ *   - Drive Backward for 24 inches
+ *   - Stop and close the claw.
+ *
+ *  The code is written using a method called: encoderDrive(speed, leftInches, rightInches, timeoutS)
+ *  that performs the actual movement.
+ *  This method assumes that each movement is relative to the last stopping place.
+ *  There are other ways to perform encoder based moves, but this method is probably the simplest.
+ *  This code uses the RUN_TO_POSITION mode to enable the Motor controllers to generate the run profile
+ *
+ * Use Android Studio 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
+ */
+
+@Autonomous(name="color", group="Robot")
+//@Disabled
+public class colorsense extends LinearOpMode {
+
+    /* Declare OpMode members. */
+    private ColorSensor colorRight = null;
+    private ColorSensor colorLeft = null;
+
+
+    private ElapsedTime runtime = new ElapsedTime();
+
+    // Calculate the COUNTS_PER_INCH for your specific drive train.
+    // Go to your motor vendor website to determine your motor's COUNTS_PER_MOTOR_REV
+    // For external drive gearing, set DRIVE_GEAR_REDUCTION as needed.
+    // For example, use a value of 2.0 for a 12-tooth spur gear driving a 24-tooth spur gear.
+    // This is gearing DOWN for less speed and more torque.
+    // For gearing UP, use a gear ratio less than 1.0. Note this will affect the direction of wheel rotation.
+    static final double COUNTS_PER_MOTOR_REV = 537.6;    // eg: TETRIX Motor Encoder
+    static final double DRIVE_GEAR_REDUCTION = 1.0;     // No External Gearing.
+    static final double WHEEL_DIAMETER_INCHES = 3.77953;     // For figuring circumference
+    static final double COUNTS_PER_INCH = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) /
+            (WHEEL_DIAMETER_INCHES * Math.PI);
+    static final double COUNTS_PER_ARM_INCH = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) / (2.7 * Math.PI);
+    static final double DRIVE_SPEED = 0.2;
+    static final double TURN_SPEED = 0.4;
+
+    static final double LONG_TIMEOUT = 1000;
+    static final double DEGREE_TOO_DISTANCE = 0.21944444444;
+    static final double ARM_SPEED = .1;
+    static final double TICKS_TO_DEGREES = 0.07462686567;
+
+    @Override
+    public void runOpMode()
+    {
+        hardwareinit();
+
+        // Send telemetry message to indicate successful Encoder reset
+       /* telemetry.addData("Starting at",  "%7d :%7d",
+                          leftDrive.getCurrentPosition(),
+                          rightDrive.getCurrentPosition(),
+                backleftDrive.getCurrentPosition(),
+        backrightDrive.getCurrentPosition());*/
+
+        telemetry.update();
+
+        // Wait for the game to start (driver presses PLAY)
+        waitForStart();
+        {
+            executeAuto();
+
+        }
+
+        // Step through each leg of the path,
+        // Note: Reverse movement is obtained by setting a negative distance (not speed)
+
+
+    }
+
+
+//
+
+    public int readColorRight() {
+        telemetry.addData("Clear", colorRight.alpha());
+        telemetry.addData("Red  ", colorRight.red());
+        telemetry.addData("Green", colorRight.green());
+        telemetry.addData("Blue ", colorRight.blue());
+        //telemetry.update();
+        int bluenumber = colorRight.red();
+        return bluenumber;
+    }
+
+    public int readColorLeft() {
+        telemetry.addData("Clear Left", colorLeft.alpha());
+        telemetry.addData("Red left ", colorLeft.red());
+        telemetry.addData("Green left", colorLeft.green());
+        telemetry.addData("Blue left", colorLeft.blue());
+        //telemetry.update();
+        int bluenumber = colorLeft.red();
+        return bluenumber;
+
+
+    }
+    public void hardwareinit()
+    {
+        colorRight = hardwareMap.get(ColorSensor.class, "color right");
+        colorLeft = hardwareMap.get(ColorSensor.class, "left color");
+    }
+    public void executeAuto()
+    {
+        while(opModeIsActive())
+        {
+
+            telemetry.addData("Clear Left", colorLeft.alpha());
+            telemetry.addData("Red left ", colorLeft.red());
+            telemetry.addData("Green left", colorLeft.green());
+            telemetry.addData("Blue left", colorLeft.blue());
+            telemetry.update();
+        }
+
+    }
+
+
+
+
+
+    /*
+     *  Method to perform a relative move, based on encoder counts.
+     *  Encoders are not reset as the move is based on the current position.
+     *  Move will stop if any of three conditions occur:
+     *  1) Move gets to the desired position
+     *  2) Move runs out of time
+     *  3) Driver stops the opmode running.
+
+     */
+
+
+
+}