[Greg McKaskle]

Rereading the description you posted, here is what I think is happening.

Auto starts, the robot hardly twitches, waits two seconds, then starts driving in an arc and shooting. If you don't hear the field sounds and know exactly when auto starts, if you don't see the twitch and assume that auto starts when the robot moves, then I believe that would match your description.

I believe that the code you show will do what you want when you make the initial duration longer. Try 1500 or 2000 forward, then the rest of the code. As another debugging technique, have someone drive the auto while someone else records with a phone's video. Review the video and write down the recipe. I think you'll see that the forward needs to be more than 1/5 of a second. I don't know that you need 2 seconds for the ball to settle. And as mentioned, you should set the motors to 0 at the end. You have disabled motor safety, so the robot will continue driving in an arc until auto ends.

Hope this helps.

Greg McKaskle