[Monty Python]

You can set a while loop as less than one of the timer's in robotc. You'll have to check the help files for the exact syntax as I don't remember it offhand, but if I remember correctly, I think it looks something like...

while(T1<20000)
{
//put code here
}

I think that T1 is a millisecond timer, but just search the help files in RobotC for timer and you should be good to go.

Oh and you probably want to set T1 equal to 0 at the beginning of autonomous, but I'm not 100% sure (again, the help file should tell you everything you need to know).