[Mr. Lim]

I think the issue is you are using loops in your code.

Iterative and Command based robots should NOT be using "while" or "for" loops (generally) in their code. The methods are already looped for you, and long loops will mean that any "simultaneous" commands will be put on hold until the loop is complete.

The Simple template handles looping code by interrupting it periodically, and so you won't see any issues there.