E4T encoder Auton sample code? Java

Technical Java
#1

Ok, this is going to sound stupid, especially day after bag day BUT… We are pretty much without auton at this point. We do have identical parts to make a practice robot so we can try out code.
We have one week to make this work before our competition. I am told we can “see” the numbers coming in from the E4T encoders but they stay at zero when the auton mode starts.

I am looking for sample code that shows how to make an auton mode that uses E4T encoders on Mini Tough box drive trains. Would be great to see move forward and turn aspects.

Unfortunately I am fairly code illiterate (I know what an IDE is…) but can pass on information or get info from my team member that is learning code quickly.
Fire away question!!!

Please,
Signed
Desperate Mentor
:yikes:

#2 
public void robotInit() {
		chooser.addDefault("Default Auto", defaultAuto);
		chooser.addObject("My Auto", customAuto);
		SmartDashboard.putData("Auto modes", chooser);
	    myRobot.setInvertedMotor(RobotDrive.MotorType.kRearLeft, true);
	    myRobot.setInvertedMotor(RobotDrive.MotorType.kRearRight, true);
	}

public void autonomous() {
		String autoSelected = chooser.getSelected();
		System.out.println("Auto selected: " + autoSelected);

		switch (autoSelected) {
		case customAuto:
			myRobot.setSafetyEnabled(false);
			lEncode.setDistancePerPulse(0.0087266462599);
			rEncode.setDistancePerPulse(0.0087266462599);
			lDist = lEncode.getDistance();
			rDist = rEncode.getDistance();
			if (lEncode.get() > 5)
				myRobot.drive(0.5, 0.0);
			else 
				myRobot.drive(0.0, 0.0);
			break;
		case defaultAuto:
		default:
			myRobot.setSafetyEnabled(false);
			myRobot.drive(0.0, 0.0); 
			break;
		}
#3