Wait() issue

[mrklempae]

We're having trouble with out robot losing control every time Wait() is used. We need to delay part of our code from executing for 1/10th or 1/100th second. That part works (we can't notice the delay), but in other parts of the code (where we need 1.5 second delay) we completely lose control for that period of time. Someone mentioned that we could use the Timer() class for this, but we weren't sure how accurate it is, having to Start and Stop it in a very short period of time. Here's part of out code that causes the most issues:

			if ((LeftBumper)&&(RightBumper))  //xBox controller
			{
				front->Set(-speed); //Talons
				back-> Set(speed);
				if (ButtonA)
				{
					Forward->Set(1); //solenoids
					Reverse->Set(0);
					Wait(0.1);
					Forward->Set(0);
					Reverse->Set(1);
					Wait(1.5);
				}
			}

Has anyone else encountered this problem?