Robot go parabola go brrr

src/main/java/com/team766/robot/rookie_bot/AutonomousModes.java

@@ -13,6 +13,7 @@ public class AutonomousModes {
                 // define one or more different autonomous modes with it like this:
                 //    new AutonomousMode("DriveFast", () -> new DriveStraight(1.0)),
                 //    new AutonomousMode("DriveSlow", () -> new DriveStraight(0.4)),
+                new AutonomousMode("DriveStraight", () -> new DriveStraight()),
 
                 new AutonomousMode("DoNothing", () -> new DoNothing()),
             };

src/main/java/com/team766/robot/rookie_bot/Robot.java

@@ -4,13 +4,16 @@
 import com.team766.framework.Procedure;
 import com.team766.hal.RobotConfigurator;
 import com.team766.robot.example.mechanisms.*;
+import com.team766.robot.rookie_bot.mechanisms.Drive;
 
 public class Robot implements RobotConfigurator {
     // Declare mechanisms (as static fields) here
+    public static Drive drive;
 
     @Override
     public void initializeMechanisms() {
         // Initialize mechanisms here
+        drive = new Drive();
     }
 
     @Override

src/main/java/com/team766/robot/rookie_bot/mechanisms/Drive.java

@@ -0,0 +1,24 @@
+package com.team766.robot.rookie_bot.mechanisms;
+
+import com.team766.hal.RobotProvider;
+
+import com.team766.hal.MotorController;
+
+import com.team766.framework.Mechanism;
+
+import com.team766.framework.Mechanism;
+
+public class Drive extends Mechanism{
+    private MotorController leftMotor;
+    private MotorController rightMotor;
+
+    public Drive() {
+        leftMotor = RobotProvider.instance.getMotor("drive.Left");
+        rightMotor = RobotProvider.instance.getMotor("drive.Right");
+    }
+
+    public void setMotorSpeed(double leftPower, double rightPower) {
+        leftMotor.set(leftPower);
+        rightMotor.set(rightPower);
+    }
+}

src/main/java/com/team766/robot/rookie_bot/procedures/DriveStraight.java

@@ -0,0 +1,14 @@
+package com.team766.robot.rookie_bot.procedures;
+
+import com.team766.framework.Context;
+import com.team766.framework.Procedure;
+import com.team766.robot.rookie_bot.Robot;
+
+public class DriveStraight extends Procedure{
+    public void run(Context context) {
+        Robot.drive.setMotorSpeed(0.1, 0.1);
+        context.waitForSeconds(7.5);
+        Robot.drive.setMotorSpeed(0, 0);
+    }
+
+}