Can we write autonomous code without subsystems?

We have all of our code for everything on our robot except for the drive train under, and not in subsystems. When we wrote autonomous code, we were under the impression that we needed every component of our robot (intake, shooter, etc.) coded in subsystems, so we recoded them all in subsystems, but it doesn’t work. None of the components work, and the autonomous won’t work either. Is there any way to code autonomously without all of our components in subsystems?

(we’re using a command based framework on java in vscode)

Subsystems are just one way to structure your robot code. Teams have successfully coded autonomous routines without subsystems or the command framework using TimedRobot. Subsystems are designed to make it easier to implement more complex command sequences, but it’s not required by any means.

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