[RyanW]

If your code is taking too long, you'll get the Code Error red light of death on your robot, and it'll stop running. Believe me, you'll know. So if it's working okay when you test it, don't worry.

Whether or not you need a While loop depends on whether or not you're using EasyC. The Default Code and Kevin's code, to the best of my knowledge, call the teleoperated and hybrid method repeatedly on their own, and a while loop will mess them up. I don't know for sure about EasyC, but our team is using WPILib, which should work similarly. With WPILib, Autonomous gets called once, and Teleoperated repeatedly, so you would only need the while loop for autonomous.