[Alan Anderson]

Things that sound like "shooting sequence" typically belong in the Periodic Tasks vi. If it either includes either explicit delays or waits for robot actions to occur based on sensor input, it's not likely to work as part of Teleop.

Teleop gets called each time a new data packet is sent from the Driver Station with joystick/gamepad/Cypress input values. It needs to do its job and end quickly. If it hasn't finished running before the next Driver Station communication occurs, it'll disrupt the vital communication tasks, and the robot will probably report a "loop running slow" error.