[ATannahill]

Is there a reason you are wanting to run for a period of time instead of until a limit switch is hit? This would allow you to stop the mechanism based on where it is instead of how long it runs.

This will help you if you are running the lift (in either direction) and then the robot is disabled (end of match/e-stop) and you need to move the mechanism to one of the end points (other points can be added as well) from wherever it stopped. If you run it up or down based on time it will move past the desired end point.