@Override public void runOpMode() throws InterruptedException { leftMotor = hardwareMap.dcMotor.get("left_drive"); rightMotor = hardwareMap.dcMotor.get("right_drive"); arm = hardwareMap.dcMotor.get("arm"); sensorGyro = (ModernRoboticsI2cGyro) hardwareMap.gyroSensor.get("gyro"); leftMotor.setDirection(DcMotor.Direction.REVERSE); arm.setDirection(DcMotor.Direction.REVERSE); // autonomous(Red, NoSleep); sensorGyro.calibrate(); waitForStart(); while (sensorGyro.isCalibrating()) { Thread.sleep(50); } telemetry.addData("Heading ", sensorGyro.getHeading()); telemetry.addData("Integrated ", sensorGyro.getIntegratedZValue()); setDriveMotors(1); sleep(250); setDriveMotors(0); telemetry.addData("Heading ", sensorGyro.getHeading()); telemetry.addData("Integrated ", sensorGyro.getIntegratedZValue()); turn(90); telemetry.addData("Heading ", sensorGyro.getHeading()); telemetry.addData("Integrated ", sensorGyro.getIntegratedZValue()); sleep(10000); turn(287); telemetry.addData("Heading ", sensorGyro.getHeading()); telemetry.addData("Integrated ", sensorGyro.getIntegratedZValue()); sleep(10000); turn(0); telemetry.addData("Heading ", sensorGyro.getHeading()); telemetry.addData("Integrated ", sensorGyro.getIntegratedZValue()); sleep(10000); }