I did codifying

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

@@ -0,0 +1,45 @@
+package org.firstinspires.ftc.teamcode;
+
+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);
+    }
+
+    public static void setDirectionBackward (DcMotor rhw, DcMotor rlw, DcMotor lhw, DcMotor llw) {
+        rhw.setDirection(DcMotor.Direction.FORWARD);
+        rlw.setDirection(DcMotor.Direction.REVERSE);
+        lhw.setDirection(DcMotorSimple.Direction.REVERSE);
+        llw.setDirection(DcMotorSimple.Direction.FORWARD);
+    }
+
+    public static void setDirectionLeft (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 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

@@ -0,0 +1,87 @@
+package org.firstinspires.ftc.teamcode;
+
+import static java.lang.Math.round;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.AnalogSensor;
+import com.qualcomm.robotcore.hardware.ColorSensor;
+import com.qualcomm.robotcore.hardware.DcMotor;
+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")
+public class Name extends LinearOpMode  {
+    private DcMotor rightHandWheel;
+    private DcMotor rightLegWheel;
+    private DcMotor leftHandWheel;
+    private DcMotor leftLegWheel;
+    private TouchSensor touchSensor;
+    private DistanceSensor distanceSensor;
+    private ColorSensor colorSensor;
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        rightHandWheel = hardwareMap.get(DcMotor.class,"right hand wheel");
+        rightLegWheel = hardwareMap.get(DcMotor.class,"right leg wheel");
+        leftHandWheel = hardwareMap.get(DcMotor.class, "left hand wheel");
+        leftLegWheel = hardwareMap.get(DcMotor.class, "left leg wheel");
+        touchSensor = hardwareMap.get(TouchSensor.class, "touchsensor");
+        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);
+
+        // Wait for the game to start (driver presses PLAY)
+        waitForStart();
+
+        while(opModeIsActive()){
+
+       /* telemetry.speak( "Oh see, you see" +
+                "By the dusk's late light" +
+                "What so proudly we rained" +
+                "At the twilight's last gleaming?" +
+                "Whose broad stripes and dark stars" +
+                "Through the perilous fight" +
+                "Under the ramparts we watched" +
+                "Were so gallantly, no, streaming?" +
+                "And the rockets' red glare" +
+                "The bombs contracting in air" +
+                "Gave proof through the night" +
+                "That our flag was not there" +
+                "O say, that star-spangled banner doesn't wave" +
+                "Over the land of the enslaved and the home of the cowardly");*/
+
+            MovementLibrary.setSpeed(0.2,rightHandWheel,rightLegWheel,leftHandWheel,leftLegWheel);
+
+            if(touchSensor.isPressed()) {
+                telemetry.speak("Ouchie that hurt me and my feelings");
+                telemetry.addData("was i triggered", touchSensor.isPressed());
+            }
+
+            double nicerValue = distanceSensor.getDistance(DistanceUnit.INCH);
+
+            telemetry.addData("you are this far (in inches) --> ", "%.2f", nicerValue);
+            telemetry.addData("Red: ", colorSensor.red());
+            telemetry.addData("Green: ", colorSensor.green());
+            telemetry.addData("Blue: ", colorSensor.blue());
+
+            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();
+
+        }
+
+    }
+
+}