mode auto

src/main/java/frc/robot/RobotContainer.java

@@ -180,7 +180,10 @@ public class RobotContainer {
     
     public Command getAutonomousCommand() {
       return new SequentialCommandGroup(
-        new AvancerAuto(drive).withTimeout(2),
+        drivetrain.applyRequest(()->
+        drive.withVelocityX(0.5*MaxSpeed)
+       .withVelocityY(0)
+       .withRotationalRate(0)).withTimeout(2),
         new L1Requin(requin, bougie).withTimeout(2),
         new ExpireCorail(requin, bougie).withTimeout(2),
         new RainBow(bougie));

src/main/java/frc/robot/commands/AvancerAuto.java

@@ -11,16 +11,18 @@ import com.ctre.phoenix6.swerve.SwerveRequest;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.TunerConstants.TunerConstants;
+import frc.robot.subsystems.CommandSwerveDrivetrain;
 
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
 public class AvancerAuto extends Command {
+  private CommandSwerveDrivetrain commandSwerveDrivetrain = TunerConstants.createDrivetrain();
    private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed
   private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of
    private final SwerveRequest.RobotCentric drive = new SwerveRequest.RobotCentric()
     .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1)
     .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
   /** Creates a new AvancerAuto. */
-  public AvancerAuto(SwerveRequest.RobotCentric drive) {
+  public AvancerAuto(SwerveRequest.RobotCentric drive, CommandSwerveDrivetrain commandSwerveDrivetrain) {
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -31,7 +33,11 @@ public class AvancerAuto extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    drive.withVelocityY(0.2*MaxSpeed);
+    commandSwerveDrivetrain.applyRequest(()->
+     drive.withVelocityY(0.5*MaxSpeed)
+    .withVelocityX(0)
+    .withRotationalRate(0));
+    
   }
 
   // Called once the command ends or is interrupted.