This auto mode should move forward, turn left and go until the robot gets within 12 inches of an object

automodeWithLeftTurnUsingTimerWithDistanceSensor.java

@Autonomous(name = "My FIRST Java OpMode", group = "Autonomous")
public class MyFIRSTJavaOpMode extends LinearOpMode {

    // Declare hardware variables for the drive motors
    private DcMotor backLeftDrive;
    private DcMotor backRightDrive;

    // Declare color and distance sensors
    private ColorSensor color1;
    private DistanceSensor distanceSensor;

    @Override
    public void runOpMode() {
        // Initialize hardware for the motors
        backLeftDrive = hardwareMap.get(DcMotor.class, "backLeftDrive");
        backRightDrive = hardwareMap.get(DcMotor.class, "backRightDrive");

        // Initialize the color sensor
        color1 = hardwareMap.get(ColorSensor.class, "color1");

        // Initialize the distance sensor
        distanceSensor = hardwareMap.get(DistanceSensor.class, "distance1");

        // Set motor directions with reversed configuration
        backLeftDrive.setDirection(DcMotor.Direction.REVERSE);
        backRightDrive.setDirection(DcMotor.Direction.FORWARD);

        // Set zero power behavior
        backLeftDrive.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
        backRightDrive.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);

        // Reset and set encoder modes
        backLeftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
        backRightDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);

        backLeftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
        backRightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);

        // Display initialization message
        telemetry.addData("Status", "Initialized");
        telemetry.addData("Distance (inches)", distanceSensor.getDistance(DistanceUnit.INCH));
        telemetry.update();

        // Wait for the start button to be pressed
        waitForStart();

        // Autonomous actions start here
        if (opModeIsActive()) {
            // Drive forward for 1 second
            driveForward(0.5, 1000);

            // Turn left using a timed duration of 6.5 seconds
            turnLeftTimed(0.5, 6500); // Power 0.5, duration 6500 ms (6.5 seconds)

            // Drive forward until 12 inches from an object
            driveUntilDistance(0.5, 12.0);
        }
    }

    // Method to drive forward
    public void driveForward(double power, int duration) {
        backLeftDrive.setPower(power);
        backRightDrive.setPower(power);

        // Display motor power, encoder values, and distance sensor reading in telemetry
        telemetry.addData("Left Motor Power", backLeftDrive.getPower());
        telemetry.addData("Right Motor Power", backRightDrive.getPower());
        telemetry.addData("Left Encoder", backLeftDrive.getCurrentPosition());
        telemetry.addData("Right Encoder", backRightDrive.getCurrentPosition());
        telemetry.addData("Distance (inches)", distanceSensor.getDistance(DistanceUnit.INCH));
        telemetry.update();

        // Keep driving for the specified duration
        sleep(duration);

        // Stop the motors
        backLeftDrive.setPower(0);
        backRightDrive.setPower(0);

        // Update telemetry after stopping
        telemetry.addData("Left Motor Power", backLeftDrive.getPower());
        telemetry.addData("Right Motor Power", backRightDrive.getPower());
        telemetry.addData("Left Encoder", backLeftDrive.getCurrentPosition());
        telemetry.addData("Right Encoder", backRightDrive.getCurrentPosition());
        telemetry.addData("Distance (inches)", distanceSensor.getDistance(DistanceUnit.INCH));
        telemetry.update();
    }

    // Method to turn left using a timed duration
    public void turnLeftTimed(double power, int duration) {
        // Set power for turning left: left motor moves backward, right motor moves forward
        backLeftDrive.setPower(-power);
        backRightDrive.setPower(power);

        // Display motor power and distance sensor reading in telemetry while turning
        telemetry.addData("Turning Left - Left Motor Power", backLeftDrive.getPower());
        telemetry.addData("Turning Left - Right Motor Power", backRightDrive.getPower());
        telemetry.addData("Distance (inches)", distanceSensor.getDistance(DistanceUnit.INCH));
        telemetry.update();

        // Sleep for the specified duration (6.5 seconds in this case)
        sleep(duration);

        // Stop the motors after the turn
        backLeftDrive.setPower(0);
        backRightDrive.setPower(0);

        // Final telemetry update after motors stop
        telemetry.addData("Left Motor Power", backLeftDrive.getPower());
        telemetry.addData("Right Motor Power", backRightDrive.getPower());
        telemetry.addData("Distance (inches)", distanceSensor.getDistance(DistanceUnit.INCH));
        telemetry.update();
    }

    // Method to drive forward until an object is 12 inches away
    public void driveUntilDistance(double power, double targetDistanceInches) {
        backLeftDrive.setPower(power);
        backRightDrive.setPower(power);

        // Continue driving until distance sensor detects an object within the target distance
        while (opModeIsActive()) {
            // Get the distance in inches from the sensor
            double distance = distanceSensor.getDistance(DistanceUnit.INCH);

            // Check if the distance is less than or equal to the target distance
            if (distance <= targetDistanceInches) {
                backLeftDrive.setPower(0);
                backRightDrive.setPower(0);
                telemetry.addData("Status", "Object detected within 12 inches, stopping.");
                telemetry.addData("Distance (inches)", distance);
                telemetry.update();
                break;
            }

            // Update telemetry with current distance
            telemetry.addData("Distance (inches)", distance);
            telemetry.update();
        }
    }
}