[Alan Anderson]

The 20 millisecond wait in the outer While block doesn't affect the timing inside the flat sequence. It only matters when the condition to start the sequence hasn't yet happened, and all it does is ensure that the code doesn't use all the CPU time while it's waiting for the right input.

If you post your Autonomous code and tell us what you want it to do, we can look at it and tell you what you need to change to make it do that.