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

@@ -14,10 +14,11 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
 import edu.wpi.first.wpilibj2.command.RunCommand;
-
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 // Manettes
 import edu.wpi.first.wpilibj2.command.button.CommandJoystick;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import frc.robot.command.AvancerAuto;
 // Commands
 import frc.robot.command.Balayer;
 import frc.robot.command.GrimpeurDroit;
@@ -68,7 +69,7 @@ public class RobotContainer {
   GrimpeurDroit grimpeurDroit = new GrimpeurDroit(grimpeur, manette::getLeftY);
   GrimpeurGauche grimpeurGauche = new GrimpeurGauche(grimpeur, manette::getRightY);
   Debalayer debalayer = new Debalayer(balayeuse, accumulateur);
-
+  AvancerAuto avancerAuto = new AvancerAuto(drive);
   public RobotContainer() {
 
     dashboard.addCamera("limelight", "limelight","limelight.local:5800")
@@ -115,6 +116,6 @@ public class RobotContainer {
   private void configureBindings() {}
 
   public Command getAutonomousCommand(){
-    return autoChooser.getSelected(); 
+    return new SequentialCommandGroup(lancer.withTimeout(2),avancerAuto.withTimeout(3)); 
   }
 }

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

@@ -0,0 +1,40 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.command;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystem.Drive;
+
+public class AvancerAuto extends Command {
+  private Drive drive;
+  /** Creates a new AvancerAuto. */
+  public AvancerAuto(Drive drive) {
+    this.drive = drive;
+    addRequirements(drive);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    drive.drive(0.5, 0, 0);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    drive.drive(0, 0, 0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}