Movement in Autonomous using Timing

[ArzaanK]

To make our robot more appealing during presentations, demonstrations and etc, we have decided to incorporate some movement in autonomous, however, we are having some problems with this. We do not have encoders on our wheels, meaning that all autonomous movement is controlled with timing.

I have tested out various different methods of moving the robot during autonomous, but for some reason none of them worked.

Please have a look at the attached screenshot of the code. In blocks 1 and 2, the robot will keep going forward, and not stop until the autonomous period is over. In block 3, the robot will lurch forward and then stop immediately.

The "SIX MOTOR TELEOP" is the custom VI in which all of the drive motors are controlled in. This VI works just fine in Teleop.

Any help would be greatly appreciated.