Set command to run for a certain amount of time

[NS_Radication]

You could try this. This worked for me when I had your EXACT problem.

public void autonomous()
{
    Timer.start() //starts a timer at 0 seconds
    while(isAutonomous() && isEnabled()) //run when autonomous is Clive and you are enabled
    {
        if(Timer.get() < time) //time is a double in terms of seconds
        {
            driveVariable.drive(speed, curve); //move robot at this speed with/without curve
        }
        Timer.delay(0.005); //does nothing for 5 seconds but helps refresh motors in loop
    }
    Timer.stop() //stops timer
}

Good luck and happy competition!