text: from robotpy_ext.autonomous import StatefulAutonomous, timed_state, state
  
  class DriveForward(StatefulAutonomous):
  
      DEFAULT = False
      MODE_NAME = 'Drive Forward'
      
      def initialize(self):
          self.drive.setAutoSetpoint(696.75*10.5*12)
  
      @timed_state(duration=0.5, next_state='drive_forward', first=True)
      def drive_wait(self):
           self.drive.driveMeBoi(0, 0)
           self.drive.resetEncoders()
  
      @timed_state(duration=1.5, next_state='stop')
      def drive_forward(self):
          self.drive.autoForward.enable()
          self.drive.driveMeBoi(0, 0)
          if not self.drive.autoForward.isEnabled():
              self.next_state('stop')
  
      @state()
      def stop(self):
           self.drive.driveMeBoi(0, 0)
  