SDS Code Problems

Hello, I am using SDS’s mk3 template and I am trying to run some limelight and autonomous commands, but the way the drivetrain subsystem is making it very hard to plug numbers into it and allow other commands to take control of it. My Current Build looks like this, but when trying to run the drive command, it does not make sense on how to add requirements and call the command. I have the shooter setup like our old programmer had it made, and it makes sense, but the SDS drivetrain confused me greatly. If anyone has used this template and has some examples on how to do do that, it would be great help.

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