TankDrive + auto example

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)
+      );
   }
 }

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());
+        });
+    }
 }