I did codifying

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

@@ -4,11 +4,14 @@ import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorSimple;
 
 public class MovementLibrary {
+
+
     public static void setDirectionForward (DcMotor rhw, DcMotor rlw, DcMotor lhw, DcMotor llw) {
         rhw.setDirection(DcMotor.Direction.REVERSE);
         rlw.setDirection(DcMotor.Direction.FORWARD);
         lhw.setDirection(DcMotorSimple.Direction.FORWARD);
-        llw.setDirection(DcMotorSimple.Direction.REVERSE);}
+        llw.setDirection(DcMotorSimple.Direction.REVERSE);
+    }
 
     public static void setDirectionBackward (DcMotor rhw, DcMotor rlw, DcMotor lhw, DcMotor llw) {
         rhw.setDirection(DcMotor.Direction.FORWARD);
@@ -17,25 +20,26 @@ public class MovementLibrary {
         llw.setDirection(DcMotorSimple.Direction.FORWARD);
     }
 
-    public static void setSpeed (double speedValue,DcMotor rhw, DcMotor rlw, DcMotor lhw, DcMotor llw){
+    public static void setDirectionLeft (DcMotor rhw, DcMotor rlw, DcMotor lhw, DcMotor llw) {
-        rhw.setPower(speedValue);
-        rlw.setPower(speedValue);
-        llw.setPower(speedValue);
-        lhw.setPower(speedValue);
-
-
-    }
-    public static void setDirectionRight(DcMotor rhw, DcMotor rlw, DcMotor lhw, DcMotor llw){
         rhw.setDirection(DcMotor.Direction.REVERSE);
         rlw.setDirection(DcMotor.Direction.REVERSE);
         lhw.setDirection(DcMotorSimple.Direction.FORWARD);
         llw.setDirection(DcMotorSimple.Direction.FORWARD);
-
     }
-    public static void setDirectionLeft(DcMotor rhw, DcMotor rlw, DcMotor lhw, DcMotor llw){
+
+    public static void setDirectionRight (DcMotor rhw, DcMotor rlw, DcMotor lhw, DcMotor llw) {
         rhw.setDirection(DcMotor.Direction.FORWARD);
         rlw.setDirection(DcMotor.Direction.FORWARD);
         lhw.setDirection(DcMotorSimple.Direction.REVERSE);
         llw.setDirection(DcMotorSimple.Direction.REVERSE);
     }
+
+    public static void setSpeed (double speedValue, DcMotor rhw, DcMotor rlw, DcMotor lhw, DcMotor llw) {
+        rhw.setPower(speedValue);
+        rlw.setPower(speedValue);
+        lhw.setPower(speedValue);
+        llw.setPower(speedValue);
+    }
+
+
 }

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

@@ -12,7 +12,6 @@ import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.DistanceSensor;
 import com.qualcomm.robotcore.hardware.TouchSensor;
 import org.firstinspires.ftc.teamcode.MovementLibrary;
-
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
 
 @Autonomous(name="Name")
@@ -36,19 +35,8 @@ public class Name extends LinearOpMode  {
         distanceSensor = hardwareMap.get(DistanceSensor.class , "distancesensor");
         colorSensor = hardwareMap.get(ColorSensor.class, "colorsensor");
 
-
-
         MovementLibrary.setDirectionForward(rightHandWheel,rightLegWheel,leftHandWheel,leftLegWheel);
-
+        MovementLibrary.setSpeed(0.2,rightHandWheel,rightLegWheel,leftHandWheel,leftLegWheel);
-        //from this
-        DcMotor[] motors = {rightHandWheel, leftHandWheel, rightLegWheel, leftLegWheel};
-
-        //thismotors
-        MovementLibrary.setDirectionForward(motors);
-
-        // Wait for the game to start (driver presses {Play
-        waitForStart();
-
 
         // Wait for the game to start (driver presses PLAY)
         waitForStart();
@@ -80,15 +68,18 @@ public class Name extends LinearOpMode  {
             double nicerValue = distanceSensor.getDistance(DistanceUnit.INCH);
 
             telemetry.addData("you are this far (in inches) --> ", "%.2f", nicerValue);
-            telemetry.addData("green color value",colorSensor.green());
+            telemetry.addData("Red: ", colorSensor.red());
-            telemetry.addData("blue color value" ,colorSensor.blue());
+            telemetry.addData("Green: ", colorSensor.green());
-            telemetry.update();
+            telemetry.addData("Blue: ", colorSensor.blue());
 
-            if (colorSensor.blue() > 800 && colorSensor.green() > 1100) {
+            if(colorSensor.green() > 1100 && colorSensor.blue() > 1000) {
                 MovementLibrary.setSpeed(0.4,rightHandWheel,rightLegWheel,leftHandWheel,leftLegWheel);
             } else {
                MovementLibrary.setSpeed(0.2,rightHandWheel,rightLegWheel,leftHandWheel,leftLegWheel);
-            }
+            };
+
+            telemetry.update();
+
         }
 
     }