If you just to designate the arm to move to certain positions at a certain time, just in autonomous mode, you don't need to use the timer. In 2005, we had a 3 point autonomous by just doing something like this....
Code:
Autonomous_Mode(void)
{
static int timer = 0;
if(timer == 20)
move arm up;
else if(timer == 40)
move forward;
else if(timer == 60)
drop arm;
++ timer;
}
Surprisingly, we didn't even overflow once within the 15 second autonomous. Those may not have been the exact values we used, but they pretty low. I think the first two were under 100.