[kristen]

Ok, you'll need two global variables (put them in user_routines_fast.c, or something):
Code:

unsigned int delay_count = 0;
unsigned int delay_constant = 0;
enum {PROGRAM_RUNNING, PROGRAM_DELAY} program_state = PROGRAM_RUNNING;

Have a function:
Code:

void delay(unsigned int count)
{
    if (!delay_constant) {
        delay_constant = count;
        delay_count = 0;
        program_state = PROGRAM_DELAY;
    }
    if (delay_count >= delay_constant) {
        delay_constant = delay_count = 0;
        program_state = PROGRAM_RUNNING;
    } else {
        delay_count += 26;
    }
}

This function should be called something like this: (in user_routines_fast.c)
Code:

 Getdata(&rxdata);   /* DO NOT DELETE, or you will be stuck here forever! */

         if (PROGRAM_RUNNING == program_state) {
             /* Add your own autonomous code here. */
         } else {
             delay(0);
         }

        Putdata(&txdata);   /* DO NOT DELETE, or you will get no PWM outputs! */
    }

Now, anytime you want to set a delay, simply have a call to delay(milliseconds) somewhere in the autonomous code.

Most of this might not compile.

.. A certain programmer on my team who is unnamed is tooo shy to post this himself! ;D