[Greg McKaskle]

You do not want a 2 second delay in the teleOp code.

Either break it up into a larger number of 20ms teleop packets and use a state machine to keep track, or move it out and run it in parallel. The thing you'd do in the teleop is to quickly modify a global informing the other loop what state you want the motor to be in. By the way, don't just move it outside the teleop loop, but completely outside the teleop VI.

Greg McKaskle