48a0f81796d028bca296c76b945326e2ada832d4,TeamCode/src/main/java/org/firstinspires/ftc/teamcode/JellyfishAutoModeSoloRed.java,JellyfishAutoModeSoloRed,runOpMode,#,23

Before Change


//
            beaconPressR();

            encoderDrive(DRIVE_SPEED, 0, -12, 4.0);

            encoderTurn(TURN_SPEED, -45, 4.0);

            encoderDrive(DRIVE_SPEED, 0, -45, 6.0);
        }
        else {

            encoderDrive(DRIVE_SPEED, 0, -45, 10.0);

        }

After Change



        encoderDriveWithODSLeft(.1, 22, 0, 4.0);

        encoderDrive(DRIVE_SPEED, -3, 0, 2.0);

        sleep(500);

        if(robot.colorSensor.red() > robot.colorSensor.blue()) {

            encoderDrive(DRIVE_SPEED, 0, 5, 4.0);
            encoderDrive(DRIVE_SPEED, 0, -3, 4.0);
            encoderDrive(DRIVE_SPEED, 40, 0, 6.0);
            encoderDriveWithODSLeft(.1, 10, 0, 4.0);
        }
        else{
            encoderDrive(DRIVE_SPEED, 6, 0, 4.0);
            encoderDriverange(.1, 0, 5, 5, 2.0);
            encoderDrive(DRIVE_SPEED, 0, 5, 4.0);
            encoderDrive(DRIVE_SPEED, 0, -3, 4.0);
            encoderDrive(DRIVE_SPEED, 45, 0, 6.0);
            encoderDriveWithODSLeft(.1, 10, 0, 4.0);