[pblankenbaker]

Performing a timed task depends a lot on which framework you are using for your Robot code and whether you are doing it in an autonomous state where nothing else needs to be done or a teleop state where other things need to be happening at the same time.

Are you using the Command based framework, the Iterative based framework or the Sample (simple) framework?

Can you post some of your source code (showing how your victors are constructed and where you want to activate them)? It would help in making suggestions.