I made it be able to drive

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

@@ -15,8 +15,7 @@ public class AutonomousModes {
                 //    new AutonomousMode("DriveSlow", () -> new DriveStraight(0.4)),
                 new AutonomousMode("TurnRight", () -> new TurnRight()),
                 new AutonomousMode("DoNothing", () -> new DoNothing()),
-                new AutonomousMode("DoNothing", () -> new DoNothing()),
                 new AutonomousMode("DriveStraight", () -> new DriveStraight()),
-
+                new AutonomousMode("DriveinaSquare", () -> new DriveinaSquare()),
             };
 }

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

@@ -25,13 +25,21 @@ public OI() {
     }
 
     public void run(final Context context) {
+        context.takeOwnership(Robot.drive);
         while (true) {
             // wait for driver station data (and refresh it using the WPILib APIs)
-            context.waitFor(() -> RobotProvider.instance.hasNewDriverStationData());
+
             RobotProvider.instance.refreshDriverStationData();
 
             // Add driver controls here - make sure to take/release ownership
             // of mechanisms when appropriate.
+
+            Robot.drive.setArcadeDrivePower(joystick0.getAxis(1), joystick0.getAxis(3));
+            context.waitFor(() -> RobotProvider.instance.hasNewDriverStationData());
+        }
+
+
         }
+
     }
-}
+

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

@@ -16,4 +16,10 @@ public void setDrivePower(double leftPower, double rightPower){
 		leftMotor.set(leftPower);
 		rightMotor.set(rightPower);
 	}
+	public void setArcadeDrivePower(double forward, double turn) {
+		double leftMotorPower = turn + forward;
+		double rightMotorPower = -turn + forward;
+		setDrivePower(leftMotorPower, rightMotorPower);
+	}
+
 }

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

@@ -9,8 +9,8 @@ public class DriveStraight extends Procedure {
     	public void run(final Context context) {
 			context.takeOwnership(Robot.drive);
 		Robot.drive.setDrivePower(0.5, 0.5);
-		context.waitForSeconds(2);
-		Robot.drive.setDrivePower(0,0);
+		context.waitForSeconds(1);
+		Robot.drive.setDrivePower(0, 0);
 
 	}	
 }

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

@@ -0,0 +1,19 @@
+package com.team766.robot.rookie_bot.procedures;
+
+import com.team766.framework.Context;
+import com.team766.framework.Procedure;
+
+public class DriveinaSquare extends Procedure {
+    public void run(Context context) {
+        //This loop repeats 4 times
+        for (int i = 0; i < 4; ++i) {
+            //Drive along the side of the square
+        new DriveStraight().run(context);
+
+        //Turn at corner
+        new TurnRight().run(context);
+        }
+    }
+}
+
+

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

@@ -4,12 +4,12 @@
 import com.team766.framework.Procedure;
 import com.team766.robot.rookie_bot.Robot;
 
-public class TurnRight extends Procedure{
+public class TurnRight extends Procedure {
 	public void run(Context context) {
 			context.takeOwnership(Robot.drive);
 		Robot.drive.setDrivePower(0.25, -0.25);
-		context.waitForSeconds(0);
-		Robot.drive.setDrivePower(0,0);
+		context.waitForSeconds(0.90);
+		Robot.drive.setDrivePower(0, 0);
 
 	}