Ramsete command construction (aDrive is the auto drivetrain object)
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public RamseteCommand setAutoCode() {
        

        aDrive.resetEncoders();


        TrajectoryConfig config = new TrajectoryConfig(1, 1);

        config.setKinematics(aDrive.getKinematics());
        Trajectory trajectory = TrajectoryGenerator.generateTrajectory(
            Arrays.asList(new Pose2d(0, 0, new Rotation2d()), new Pose2d(1, 0, new Rotation2d())), config);

        ramseteCommand = new RamseteCommand(
            trajectory, 
            aDrive::getPose, 
            new RamseteController(2, .7), 
            aDrive.getFeedForward(), 
            aDrive.getKinematics(), 
            aDrive::getSpeeds, 
            aDrive.getLeftPIDController(), 
            aDrive.getRightPIDController(), 
            aDrive::setOutput, 
            aDrive);


        
        AutoCodeSet = true;

        return ramseteCommand;
    }

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What the robot.java runs every thread tick

public void autonomous() {
    if (!autoSwitcher.AutoCodeSet) {
      autoSwitcher.setAutoCode().schedule();
      System.out.println("Scheduled Auto Code");
    }
    else {
      CommandScheduler.getInstance().run();
    }
  }