[baronep]

Careful with the above suggestion. Using a while loop should work fine in autonomous but realize that you cannot reuse this code in teleop mode. You cant use these loops in teleop mode because while you are evaluating the loop, the cRIO isn't updating any of the PWM ouputs. This will consequently cause a watchdog error. Instead there is a block under timing which evaluates a set time and outputs a boolean when it has elapsed and can be easily reset.

Hope this helps,
baronep