[Greg McKaskle]

You can of course do what you want with your code, but the framework gave you places to put code so that you wouldn't need to modify Robot Main.

Any code that you put into TeleOp or the Robot Main loop needs to finish within 20ms or it will start to affect the joystick code handling. This can be done provided you write the code to retain when something started and do time comparisons to determine when to move to the next kicker stage, note that time, etc.

OR

You can write the code with delays, but put that code into a parallel loop such as Periodic. Then in teleOp, you read the joystick and other stuff and if the conditions are right, you trigger a kick by setting a global. In periodic, you poll the global and start the sequence. At the end of the sequence, you clear the global.

Greg McKaskle