[fireXtract]

Thank you! I was thinking quite narrow minded by thinking the only way I could do it was with threading! Thanks for showing me the way! One question, what does the super() thing do in the commandgroup? I use it in my PIDSubsystem to pass PID info, but what does it do in this case?

EDIT: I ended up doing this, the second parameter of the command can be used as a timeout ex. (addSequential(),1.5). I needed to do this so that the list doesn't get stuck in the SetShooterSpeedCommand as I don't have it exit unless its interrupted. This works as desired. Thanks for the help pblankenbaker!

	public KickNShootCommandGroup() {
		// super("KickNShootCommandGroup " + RobotMap.shootSpeed);

		// to get into default position
		addSequential(new SetKickerPositionCommand(RobotMap.kickDefaultAngle));

		// Start spinning up shooters and give them 2 seconds to reach speed
		addSequential(new SetShooterSpeedCommand(RobotMap.shootSpeed), 1.5);

		// Move kicker into kick position and give .5 second for boulder
		// to pass through
		addSequential(new SetKickerPositionCommand(RobotMap.kickHitAngle));
		addSequential(new WaitCommand(0.7));

		// Stop shooter and return kicker to default position

		addSequential(new SetKickerPositionCommand(RobotMap.kickDefaultAngle));
		addParallel(new SetShooterSpeedCommand(0), 0.5);
	}