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auton!<!<! #1

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10 changes: 9 additions & 1 deletion src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -105,6 +105,14 @@ public RobotContainer() {
}

public Command getAutonomousCommand() {
return Commands.print("No autonomous command configured");
public Command getAutonomousCommand() {
drivetrain.setDefaultCommand( // Drivetrain will execute this command periodically
drivetrain.applyRequest(() -> drive.withVelocityX(-0.2 * MaxSpeed) // Drive forward with
// negative Y (forward)
.withVelocityY(0.0 * MaxSpeed) // Drive left with negative X (left)
.withRotationalRate(0.0 * MaxAngularRate) // Drive counterclockwise with negative X (left)
));
//return Commands.print("No autonomous command configured");
return null;
}
}