Chief Delphi - Fix loop for control

For running the kicker, I need to have some delays. However, I also need the program to respond to driver input during this. My current code (Selection below) has to pause for the completion of the kick.

I'm not sure how to do it. Thanks for any help!

Code:

if (lastState == false && m_otherStick.getTrigger() == true) {

    trigger.set(Relay.Value.kForward);

    Timer.delay(1.1);

    Watchdog.getInstance().feed();

    trigger.set(Relay.Value.kOff);

    trigger.set(Relay.Value.kReverse);

    Watchdog.getInstance().feed();

    Timer.delay(1);

    trigger.set(Relay.Value.kOff);

    shoot.set(true); retract.set(false);

    Watchdog.getInstance().feed();

    Timer.delay(.4);

    shoot.set(false); retract.set(true);

    lastState = true;

} else if (lastState == true && m_otherStick.getTrigger() == false) {

    lastState = false;

}