[Kevin Sevcik]

I'm a little confused, or possibly you are. All of your cases in your big switch statement there are appropriately written to let the robot framework do your looping and timing.... Except the very first case, FORWARD. You have a do-while loop there that will process in about 1ms and then kick you straight into the right turn. If you change this first case from using a fruitless do-while to the proper if(delay == 0) structure of all your other cases, I think your code might work. At the very least the FORWARD case would work.