[ianonavy]

import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.SpeedController;

...

/**
 * Sets a motor to a certain power value for a certain number of seconds
 * @param controller The speed controller of the motor to power.
 * @param power The desired power for the motor.
 * @param time The time to run in seconds.
 */
public void setForTime(SpeedController controller, double power, double time) {
    controller.set(power);
    Timer.delay(time);
    controller.set(0);
}

Would something like this work? Warning: that code is not tested.