Following Trajectories with Timed Robot

I’ve read through the WPILib docs guide on following trajectories up until the 3rd page, where I’m getting lost.

The examples assume that we are using a Command based robot, but we are still using the timed robot template. What (roughly) should we do/do differently from the page (https://docs.wpilib.org/en/latest/docs/software/examples-tutorials/trajectory-tutorial/creating-drive-subsystem.html) to effectively follow trajectories?