From c862234c3eac43972bb4f6d27327644de1041bff Mon Sep 17 00:00:00 2001
From: Bradley Bickford <bradleybickford@gmail.com>
Date: Thu, 16 Oct 2025 15:57:55 -0400
Subject: [PATCH] TankDrive + auto example

---
 src/main/java/frc/robot/RobotContainer.java        | 7 ++++++-
 src/main/java/frc/robot/subsystems/Drivetrain.java | 6 ++++++
 2 files changed, 12 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 618b884..fc22107 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -29,6 +29,11 @@ public class RobotContainer {
   }
 
   public Command getAutonomousCommand() {
-    return Commands.print("No autonomous command configured");
+    return drivetrain.tankDrive(() -> .5, () -> .5)
+      .withTimeout(2.5)
+      .andThen(
+        drivetrain.tankDrive(() -> -.4, () -> .4).withTimeout(1),
+        drivetrain.tankDrive(() -> .5, () -> .5).withTimeout(1.5)
+      );
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/Drivetrain.java b/src/main/java/frc/robot/subsystems/Drivetrain.java
index d193cc3..fc2d42e 100644
--- a/src/main/java/frc/robot/subsystems/Drivetrain.java
+++ b/src/main/java/frc/robot/subsystems/Drivetrain.java
@@ -37,4 +37,10 @@ public class Drivetrain extends SubsystemBase {
             dt.arcadeDrive(forwardBackward.getAsDouble(), leftRight.getAsDouble());
         });
     }
+
+    public Command tankDrive(DoubleSupplier leftSpeed, DoubleSupplier rightSpeed) {
+        return run(() -> {
+            dt.tankDrive(leftSpeed.getAsDouble(), rightSpeed.getAsDouble());
+        });
+    }
 }