[Kingofl337]

Well, technically this shouldn't work in Operator Control or Autonomous. But Operator Control loops due to the way WPILIB is written. But, both you Autonomous and Operator Control should have a while() loop. Here is how it should look.

void Autonomous ( void )
{
      unsigned char IR1; 

      while ( 1 )
      {
            ir1 = GetDigitalInput ( 1 ) ;
            if ( ir1 == 1 )
            {
                  SetRelay ( 2 , 1 , -1 ) ;
                  Wait ( 10 ) ;
                  SetRelay ( 2 , 0 , -1 ) ;
            }
      }
}