Autonomous

[Team1605]

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved.                             */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

package edu.wpi.first.wpilibj.templates;


import edu.wpi.first.wpilibj.*;
import edu.wpi.first.wpilibj.Joystick; 
import edu.wpi.first.wpilibj.RobotDrive; 
import edu.wpi.first.wpilibj.SimpleRobot; 
import edu.wpi.first.wpilibj.Timer; 



/**
 * The VM is configured to automatically run this class, and to call the
 * functions corresponding to each mode, as described in the SimpleRobot
 * documentation. If you change the name of this class or the package after
 * creating this project, you must also update the manifest file in the resource
 * directory.
 */
public class Team1605 extends SimpleRobot {
    
    
    Joystick stickDriverLeft = new Joystick(1);
    Joystick stickDriverRight = new Joystick(2);
    
    
    Jaguar leftMotor = new Jaguar(2);
    Jaguar rightMotor = new Jaguar(1);
    Victor shooterMotor = new Victor(3);
    Victor gatherMotor1 = new Victor(4); 
    Victor bridgeHandMotor = new Victor(6);
    
    RobotDrive robotDrive = new RobotDrive(leftMotor,rightMotor);
    
   
    
    /**
     * This function is called once each time the robot enters autonomous mode.
     */
    public void autonomous() {
        robotDrive.drive(0.5,0.0);//drive at 50% speed 0% turn
        Timer.delay(5.0);//wait 5 seconds
        //robotDrive.drive(0.0,0.0);//stop
        //Timer.delay(10.0);// wait 10 seconds
        
        //leftMotor.set(-1);
        //yrightMotor.set(1);
        //Timer.delay(15);
        //leftMotor.set(0);
        //rightMotor.set(0);
        //Timer.delay(3);
        
        
        
    }

    /**
     * This function is called once each time the robot enters operator control.
     */
    public void operatorControl() {
      while(isOperatorControl() && isEnabled())
    {
        
    
     robotDrive.tankDrive(stickDriverLeft.getAxis(Joystick.AxisType.kY), stickDriverRight.getAxis(Joystick.AxisType.kY));
    
        
       
        if(stickDriverRight.getButton(Joystick.ButtonType.kTrigger)) {
           shooterMotor.set(1);
        }
        else {
            shooterMotor.set(0);
        }
        
        
        if(stickDriverLeft.getButton(Joystick.ButtonType.kTrigger)) {
            gatherMotor1.set(-1);
            
        }
        else {
            gatherMotor1.set(0);
            
        }
       
        bridgeHandMotor.set(stickDriverLeft.getAxis(Joystick.AxisType.kY)); 
               
        
        Timer.delay(.01);
    }

    }
}

This is my code... i need help with the autonomous. i want it to go straight for about 5 seconds. But it only goes straight for about half to 1 second...