[Mark McLeod]

The code should be in a single place, not several places. That'd be like two people trying to type on a keyboard at the same time using the same keys.
It'll interfere with itself otherwise, and the long pauses would disable Teleop.

Periodic Tasks is the right place for a sequence like this.

1. Check for start of sequence (joystick)
2. Turn motor on/check for reed switch OFF
3. Check for reed switch ON
4. Turn motor OFF