Task 2 Completion

src/main/java/frc/robot/subsystems/XRPDrivetrain.java

@@ -49,9 +49,24 @@ public void arcadeDrive(double xaxisSpeed, double zaxisRotate) {
   public static Command tankDriveCom(double leftSpeed, double rightSpeed){
     return new FunctionalCommand(
       () -> {
-        //
+        //start
+        RobotContainer.m_xrpDrivetrain.tankDrive(0,0);
+        RobotContainer.m_xrpDrivetrain.resetEncoders();
+      },
+      //action
+      () -> {
+        RobotContainer.m_xrpDrivetrain.tankDrive(leftSpeed, rightSpeed);
+      },
+      //stop
+      interrupted ->
+        RobotContainer.m_xrpDrivetrain.tankDrive(0, 0); 
+
+      //boolean
+      () -> {
+        return false;
       }
-    )
+      RobotContainer.m_xrpDrivetrain
+    );
   }
   //HINT:This is called a tank drive, maybe there is a function that can easily allow for it?
   //HINT:To see all the functions that the drivetrain has, type "m_diffDrive." without the quotes and look at the options generated by auto complete.