[Mark McLeod]

Using the image I posted earlier and starting from the left:

(4) -- runs what's inside the loop box four times. You use this to repeat the same actions over and over again.

(-0.5) into Tank Drive -- runs the motors forward at half speed (-1.0 would be full speed and 0.0 is stopped)

(1) into Delay & FEED -- Keeps the tank drive settings it just made going for 1 second

(0.5) into Tank Drive -- runs the motors backward at half speed (1.0 would be full speed)

(0.25) into Delay & FEED -- keeps the tank drive settings it just made going for .25 seconds

(0) into the final Tank Drive -- stopps the motors as the last thing done in autonomous

So what this code does is to:
-- drive forward for 1 sec.
-- drive backwards for 1/4 sec.
-- repeat these two drive commands four times
-- then stop

To go further you can increase the amount of time into the Delay & FEED's.