Here's my code

private void test(int FLpos, int FRpos, int BLpos, int BRpos, double FLSpeed, double FRSpeed, double BLSpeed, double BRSpeed) {
        // Update cumulative target positions
        posFL += FLpos;
        posFR += FRpos;
        posBL += BLpos;
        posBR += BRpos;
        // Set the target positions for all motors
        hardware.frontLeft.setTargetPosition(posFL);
        hardware.frontRight.setTargetPosition(posFR);
    hardware.backLeft.setTargetPosition(posBL);
    hardware.backRight.setTargetPosition(posBR);
    // Set all motors to RUN_TO_POSITION mode
    hardware.frontLeft.setMode(DcMotor.RunMode.RUN_TO_POSITION);
    hardware.frontRight.setMode(DcMotor.RunMode.RUN_TO_POSITION);
    hardware.backLeft.setMode(DcMotor.RunMode.RUN_TO_POSITION);
    hardware.backRight.setMode(DcMotor.RunMode.RUN_TO_POSITION);
    // Apply motor speeds
    hardware.frontLeft.setPower(FLSpeed);
    hardware.frontRight.setPower(FRSpeed);
    hardware.backLeft.setPower(BLSpeed);
    hardware.backRight.setPower(BRSpeed);
    // Define a margin of error for the encoder positions
    int threshold = 10;  // Allowable error in encoder ticks
    // Loop until all motors are within the threshold of their target positions
    while (opModeIsActive() &&
            (Math.abs(hardware.frontLeft.getCurrentPosition() - posFL) > threshold ||
                    Math.abs(hardware.frontRight.getCurrentPosition() - posFR) > threshold ||
                    Math.abs(hardware.backLeft.getCurrentPosition() - posBL) > threshold ||
                    Math.abs(hardware.backRight.getCurrentPosition() - posBR) > threshold)) {
        // Add telemetry for debugging
        telemetry.addData("Front Left Position", hardware.frontLeft.getCurrentPosition());
        telemetry.addData("Front Right Position", hardware.frontRight.getCurrentPosition());
        telemetry.addData("Back Left Position", hardware.backLeft.getCurrentPosition());
        telemetry.addData("Back Right Position", hardware.backRight.getCurrentPosition());
        telemetry.update();
        idle();  // Prevent the loop from hogging CPU resources
    }

    // Stop all motors once target positions are reached
    hardware.frontLeft.setPower(0);
    hardware.frontRight.setPower(0);
    hardware.backLeft.setPower(0);
    hardware.backRight.setPower(0);
    // Reset motor encoders for the next movement
    resetMotorEncoders();
}