How to program autonomous

[icar]

Hello
What is a good and efficient way to program a time based autonomous program in an iterative robot base class? More specifically, could anyone show me what an example code would look like if I for example wanted to make my tankdrive, four motor robot, drive forward for two seconds and then turn for one second and then stop?
Any help would be greatly appreciated.

[rich2202]

Read about the Timer Class.

Set a timer when you start your motors.
Each loop (autonomous periodic), check the timer.
When you reach the desired time mark, do something.

FYI: You might also want to put encoders on your motors, and check the distance (revolutions) the encoders say you went.