mode auto

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

@@ -6,6 +6,7 @@ package frc.robot.commands;
 
 import static edu.wpi.first.units.Units.*;
 
+import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
 import com.ctre.phoenix6.swerve.SwerveRequest;
 
 import edu.wpi.first.wpilibj2.command.Command;
@@ -16,7 +17,8 @@ public class AvancerAuto extends Command {
    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);
+    .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1)
+    .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
   /** Creates a new AvancerAuto. */
   public AvancerAuto(SwerveRequest.RobotCentric drive) {
     // Use addRequirements() here to declare subsystem dependencies.
@@ -29,7 +31,7 @@ public class AvancerAuto extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    drive.withVelocityX(0.2);
+    drive.withVelocityX(0.2*MaxSpeed);
   }
 
   // Called once the command ends or is interrupted.