Did work

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

@@ -18,4 +18,5 @@ public class AutonomousModes {
                 new AutonomousMode("DriveStraight", () -> new DriveStraight()),
                 new AutonomousMode("DriveinaSquare", () -> new DriveinaSquare()),
             };
+
 }

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

@@ -35,7 +35,7 @@ public void run(final Context context) {
 
             // Add driver controls here - make sure to take/release ownership
             // of mechanisms when appropriate.
-            Robot.drive.setArcadeDrivePower(-1 * joystick0.getAxis(1), joystick0.getAxis(3));
+            Robot.drive.setArcadeDrivePower(-0.5 * joystick0.getAxis(1), joystick0.getAxis(4));
             log("Elevator height: " + Robot.elevator.getElevatorDistance());
             context.waitFor(() -> RobotProvider.instance.hasNewDriverStationData());
             if (joystick0.getButtonPressed(4)) {

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

@@ -0,0 +1,26 @@
+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 Auton extends Procedure{
+     public void run(final Context context) {
+        Robot.intake.setintakePower(0.3, 0.75);
+        context.takeOwnership(Robot.drive);
+        Robot.drive.setDrivePower(0.5, 0.5);
+        context.waitForSeconds(2);
+        Robot.drive.setDrivePower(0, 0);
+        context.waitForSeconds(2.5);
+        Robot.drive.setDrivePower(0.25, -0.25);
+        context.waitForSeconds(0.90);
+        Robot.drive.setDrivePower(0, 0);
+        Robot.drive.setDrivePower(0.25, -0.25);
+        context.waitForSeconds(0.90);
+        Robot.drive.setDrivePower(0, 0);
+        context.takeOwnership(Robot.drive);
+        Robot.drive.setDrivePower(0.5, 0.5);
+        context.waitForSeconds(2);
+        Robot.drive.setDrivePower(0, 0);
+     }
+}