[Travis Hoffman]

We use a timer to implement delays. Here is our bread and butter 2-ball front of key autonomous code - this is called from AutonomousPeriodic:

void XM15::AutoThree1(void)
{
	//printf("3-PT 1 - Front of Key\n");
	
	#define	TH1_READYDWELL	4.0		//Dwell time to permit to move to shot position
	#define TH1_SHOTDELAY	0.5		//Short pause between oktoshoot signal and feeding ball
	#define	TH1_SHOT1DWELL	0.4		//0.5 OK - Feed time for first ball
	#define TH1_SHOT2DWELL	1.0		//Feed time for second ball
	#define	TH1_REGENDWELL	1.5		//Wait for shooter to regain speed = originally 2.0
	
	switch (autonStep)
	{
		case 1: //Select Front Key Three Arm Position & Spin Up Shooter 
		{

			autofrontkeythree_sw = 1;
			
			shooterstate = ON;
			
			if (delaytimer->Get() < delayset) 	//Wait until the timer times past the preset delay
			{

				//Waiting...
				
			}
			else
			{
				delaytimer->Stop();
				
				autotimer->Reset();
				
				autonStep = 2;			
			}	
			
			break;
		}
		case 2: //Wait for arm and shooter to be ready (or watchdog timeout), then fire a ball 
		{				
			
			if ( (oktoshoot == 1) || (autotimer->Get() > TH1_READYDWELL) )
			{	
				autotimer->Reset();

				autonStep = 3;
			}
		
			break;
		}
		case 3: //Wait for a short moment after arm in position before firing a ball
		{				
			
			if (autotimer->Get() > TH1_SHOTDELAY) 
			{
				autocagefeed_sw = 1;
				
				autotimer->Reset();

				autonStep = 4;
			}
		
			break;
		}			
		case 4: //Stop firing after timeout
		{
			if (autotimer->Get() > TH1_SHOT1DWELL)
			{
				autocagefeed_sw = 0;
				
				autotimer->Reset();
				
				autonStep = 5;
				//autonStep = 7;		//Debug - permits tuning of initial shot timing
			}
						
			break;
		}
		case 5: //Wait for shooter to regain speed, then fire again 
		{			
			if (autotimer->Get() > TH1_REGENDWELL)
			{
				if (speedok == 1)
				{

					autocagefeed_sw = 1;
					
					autotimer->Reset();
					
					autonStep = 6;
					
				}
			
			}
			
			break;
		}
		case 6: //Turn shooter off after 2nd ball is fired
		{		
			if (autotimer->Get() > TH1_SHOT2DWELL)
			{
				autocagefeed_sw = 0;
				
				autotimer->Reset();
				
				autonStep = 7;
			}
								
			break;
		}	
		case 7: //Program is done - turn off the shooter, place arm in load position
		{
			
			shooterstate = OFF;
			
			//autofrontkeythree_sw = 0;
			
			//autoloadball_sw = 1;
		
			break;
		}
		
	}
	
}