[Omar]

Let me see if I understand
We need to break it down into each single step.

1 Somebody presses a BUTTON (???) On the joystick?
2 The BACK cylinder Extends to the cocked position?
3 Limit Switch detect BACK cylinder is cocked.
4 Causing the FRONT cylinder extend
5 Then somebody presses another button (???)
6 Both cylinders retract at the some time kicking the ball.

I assume this is how it is done in Teleop with the button pressing.
Do you have code that now works in Teleop mode using buttons and you need to replace the buttons pressing.

How will you detect that a ball is present and it is time to kick. (A timer? Distant traveled? A limit switch?)

I am not sure how you are using all the limit switches.

Anyway does the flow of the VI match what is actually going on in your code?