This auto mode should move forward, turn left and go until the robot touches the blue tape. The turn is handled via encoders.

automodeWithLeftTurnUsingEncoders.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 sensor
    private ColorSensor color1;

    @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");

        // 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.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 encoder values
            turnLeft(2700); // Adjusted to the 2700 value as requested

            // Drive forward until blue is detected
            driveUntilBlue(0.5);
        }
    }

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

        // Display motor power and encoder values 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.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.update();
    }

    // Method to turn left using encoders
    public void turnLeft(int targetPosition) {
        // Reset encoders for the turn
        backLeftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
        backRightDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);

        // Set target position for the turn
        backLeftDrive.setTargetPosition(-targetPosition);
        backRightDrive.setTargetPosition(targetPosition);

        // Set mode to RUN_TO_POSITION
        backLeftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
        backRightDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);

        // Set power to the motors
        backLeftDrive.setPower(0.5);
        backRightDrive.setPower(0.5);

        // Loop until both motors reach their target positions
        while (opModeIsActive() && (backLeftDrive.isBusy() || backRightDrive.isBusy())) {
            telemetry.addData("Left Encoder", backLeftDrive.getCurrentPosition());
            telemetry.addData("Right Encoder", backRightDrive.getCurrentPosition());
            telemetry.addData("Left Target", backLeftDrive.getTargetPosition());
            telemetry.addData("Right Target", backRightDrive.getTargetPosition());
            telemetry.addData("Left Motor Speed", backLeftDrive.getPower());
            telemetry.addData("Right Motor Speed", backRightDrive.getPower());
            telemetry.update();
        }

        // Stop the motors after reaching the target
        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("Left Encoder", backLeftDrive.getCurrentPosition());
        telemetry.addData("Right Encoder", backRightDrive.getCurrentPosition());
        telemetry.update();
    }

    // Method to drive forward until blue is detected
    public void driveUntilBlue(double power) {
        backLeftDrive.setPower(power);
        backRightDrive.setPower(power);

        // Continue driving until blue is detected
        while (opModeIsActive()) {
            int blue = color1.blue();
            int red = color1.red();
            int green = color1.green();

            // Check if blue is the dominant color
            if (blue > red && blue > green && blue > 200) { // Threshold for blue detection
                backLeftDrive.setPower(0);
                backRightDrive.setPower(0);
                telemetry.addData("Status", "Blue detected, stopping.");
                telemetry.update();
                break;
            }

            // Update telemetry with color sensor values
            telemetry.addData("Red", red);
            telemetry.addData("Green", green);
            telemetry.addData("Blue", blue);
            telemetry.update();
        }
    }
}