[BradAMiller]

Instead of using Wait() you need to use Timer.delay(). The problem with Wait is that is a method on the Object class which is the base for all objects. So using wait doesn't really work.

First, be sure you have this import:

import edu.wpi.first.wpilibj.Timer;

Then, here is an example of using delay:

    public void autonomous() {
        System.out.println("In autonomous");
        for (int i = 0; i < 40; i++) {
            drivetrain.drive(1, 0.0);
            Timer.delay(2); // wait 2 seconds
            drivetrain.drive(-1, 0); 
            Timer.delay(2);
        }
        drivetrain.drive(0.0, 0.0); // drive 0% forward, 0% turn (stop)
    }