[whereisthemonke]

Hey, i would use the following code:

PHP Code:

public class CCAutonomous extends LinearOpMode {
        OpticalDistanceSensor opticalDistanceSensor;
        //Drive motors
        DcMotor motorFrontRight,motorFrontLeft, motorBackRight, motorBackLeft;
        int leftFrontPos, leftBackPos, rightFrontPos, rightBackPos;

        @Override
        public void runOpMode() throws InterruptedException {

            // opticalDistanceSensor = hardwareMap.opticalDistanceSensor.get("sensor_ods");

            motorFrontRight = hardwareMap.dcMotor.get("front_right");
            motorFrontLeft = hardwareMap.dcMotor.get("front_left");
            motorBackRight = hardwareMap.dcMotor.get("back_right");
            motorBackLeft = hardwareMap.dcMotor.get("back_left");

            motorFrontLeft.setDirection(DcMotor.Direction.REVERSE);
            motorBackLeft.setDirection(DcMotor.Direction.REVERSE);
            motorFrontRight.setMode(DcMotorController.RunMode.RUN_USING_ENCODERS);
            motorFrontLeft.setMode(DcMotorController.RunMode.RUN_USING_ENCODERS);
            motorBackRight.setMode(DcMotorController.RunMode.RUN_USING_ENCODERS);
            motorBackLeft.setMode(DcMotorController.RunMode.RUN_USING_ENCODERS);
            waitForStart();
            // Reset enoders to zero
            motorFrontLeft.setMode(DcMotorController.RunMode.RESET_ENCODERS);
            motorFrontRight.setMode(DcMotorController.RunMode.RESET_ENCODERS);
            motorBackLeft.setMode(DcMotorController.RunMode.RESET_ENCODERS);
            motorBackRight.setMode(DcMotorController.RunMode.RESET_ENCODERS);
            waitOneFullHardwareCycle(); // We use these in attempt to gain stability.


            motorFrontLeft.setTargetPosition(2440);
            motorFrontRight.setTargetPosition(2440);
            motorBackLeft.setTargetPosition(2440);
            motorBackRight.setTargetPosition(2440);

            leftFrontPos = motorLeftFront.getCurrentPosition();
            leftBackPos = motorLeftBack.getCurrentPosition();
            rightFrontPos = motorFrontRight.getCurrentPosition();
            rightBackPos = motorBackRight.getCurrentPosition();

            motorFrontRight.setMode(DcMotorController.RunMode.RUN_TO_POSITION);
            motorFrontLeft.setMode(DcMotorController.RunMode.RUN_TO_POSITION);
            motorBackRight.setMode(DcMotorController.RunMode.RUN_TO_POSITION);
            motorBackLeft.setMode(DcMotorController.RunMode.RUN_TO_POSITION);

            while(leftBackPos < 2440 && leftFrontPos < 2440 && rightBackPos < 2440 && rightFrontPos < 2440){
                motorFrontLeft.setPower(-0.5);
                motorFrontRight.setPower(-0.5);
                motorBackLeft.setPower(-0.5);
                motorBackRight.setPower(-0.5);

                leftFrontPos = motorLeftFront.getCurrentPosition();
                leftBackPos = motorLeftBack.getCurrentPosition();
                rightFrontPos = motorFrontRight.getCurrentPosition();
                rightBackPos = motorBackRight.getCurrentPosition();
            }

            telemetry.addData("2 ", "motorFrontLeft:  " + String.format("%d", motorFrontLeft.getTargetPosition()));
            telemetry.addData("3 ", "motorFrontRight:  " + String.format("%d", motorFrontRight.getTargetPosition()));
            telemetry.addData("4 ", "motorBackLeft:  " + String.format("%d", motorBackLeft.getTargetPosition()));
            telemetry.addData("5 ", "motorBackRight:  " + String.format("%d", motorBackRight.getTargetPosition()));
        }
    } 


Use this code instead and tell me if it worked, I will use this code too if you confirm that it worked