Check My Code

[jhellr13]

My team is competing in the long island regional next week, and we want to make sure our autonomous works. I have attached my code, and hope that anyone can look it over and tell me if I need to fix some things. A question i have is how to make a motor run for certain amounts of time, especially a relay. I put a wait function in these sections in the code, figuring that is what i need, but am unsure. Most of my questions/concerns are in the code itself, so please read all the text boxes i have added.
Basically what we want is the robot to follow the line, then raise the arm, drive forward, lower the arm for a slight period of time, then backup.

Thanks for the help in advanced.