@@ -0,0 +1,1278 @@
+package com.edinarobotics.zephyr.autonomous;%0A%0Aimport com.edinarobotics.utils.autonomous.AutonomousStep;%0Aimport com.edinarobotics.zephyr.Zephyr;%0A%0A/**%0A * An autonomous step that sets the drive train speed and then exits.%0A */%0Apublic class SetDriveSpeedStep extends AutonomousStep%7B%0A    private double leftSpeed;%0A    private double rightSpeed;%0A    private Zephyr robot;%0A    %0A    /**%0A     * Constructs a new SetDriveSpeedStep that sets the motor speeds%0A     * to the given speeds.%0A     * @param leftDriveSpeed the speed to which the left drive motors should%0A     * be set.%0A     * @param rightDriveSpeed the speed to which the right drive motors should%0A     * be set.%0A     * @param robot the %7B@link Zephyr%7D object to use to set the motor powers.%0A     */%0A    public SetDriveSpeedStep(double leftDriveSpeed, double rightDriveSpeed, Zephyr robot)%7B%0A        leftSpeed = leftDriveSpeed;%0A        rightSpeed = rightDriveSpeed;%0A        this.robot = robot;%0A    %7D%0A    %0A    /**%0A     * Sets the motor speeds.%0A     */%0A    public void start()%7B%0A        robot.leftDrive = leftSpeed;%0A        robot.rightDrive = rightSpeed;%0A    %7D%0A    %0A    /**%0A     * Always returns %7B@code true%7D. This step is always done.%0A     * @return %7B@code true%7D.%0A     */%0A    public boolean isFinished()%7B%0A        return true;%0A    %7D%0A%7D%0A

Add SetDriveSpeedStep to handle the drive train in autonomous.