[xForceDee]

I think this should work...

Add this method to Chassis.java

public void driveAuto(double speed) {
     drive.setLeftRightMotorOutputs(speed, -speed); //The - may be wrong
}

Then make a new command which requires chassis and calls this method. If your auton needs to be more sophisticated than drive forward, you can always add the command to a command group. Anyway, this is just one solution of the many out there.