Run to Position Example

public void encoderDrive(double speed, double Revolutions, double timeoutS) {
    int newTarget;

    // Ensure that the opmode is still active
    if (opModeIsActive()) {

        // Determine new target position, and pass to motor controller
        newTarget = motor.getCurrentPosition() + (int)(Revolutions * COUNTS_PER_MOTOR_REV);
        motor.setTargetPosition(newTarget);

        // Turn On RUN_TO_POSITION
        motor.setMode(DcMotor.RunMode.RUN_TO_POSITION);

        // reset the timeout time and start motion.
        runtime.reset();
        motor.setPower(Math.abs(speed));

        while (opModeIsActive() && (runtime.seconds() < timeoutS) &&
               (motor.isBusy())) {

        }

        // Stop all motion;
        motor.setPower(0);

        // Turn off RUN_TO_POSITION
        motor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);

        //  sleep(250);   // optional pause after each move
    }
}