[mwtidd]

Iterative Robot:

public class RobotTemplate extends IterativeRobot {

    /**
     * This function is called at the beginning of autonomous
     */
    private static final long DRIVE_FORWARD_TIME_IN_MILLS = 0;
    private static final double DRIVE_FORWARD_SPEED = .2;
    private long startTime = 0;
    public void autonomousInit() {
        startTime = System.currentTimeMillis();
    }

    /**
     * This function is called periodically during autonomous
     */
    public void autonomousPeriodic() {
        //drive forward for the first n milliseconds of autonomous
        if(System.currentTimeMillis() - startTime  < DRIVE_FORWARD_TIME_IN_MILLS){
            drive.driveForward(DRIVE_FORWARD_SPEED);
        }else{
            drive.stop();
        }
    }

}