Threading?

[fireXtract]

I am running into the issue that I can not do other robot things while my kickBall method is running. I am using this way currently for threading, but it crashes as is. I have also tried using the kickBall method to call just kickThread.run(); but that doesn't let me do anything else while the servo is moving.

Thread kickThread = new Thread() {
		public void run() {
			int i = 0;
			for (; i < 20; i++) {
				if (i == 1) {
					setKickAngle(RobotMap.kickDefaultAngle);
					doneKicking = false;
				} else if (i == 4) {
					setKickAngle(RobotMap.kickHitAngle);
					doneKicking = false;
				} else if (i == 15) {
					setKickAngle(RobotMap.kickDefaultAngle);
					doneKicking = true;
				}
				Timer.delay(0.05);

			}
			doneKicking = true;

			kickThread.interrupt();
		}
	};

	public void autoKick() {
		if (!kickThread.isAlive() && kickThread.isInterrupted()) {
			kickThread.start();
		} else {
			kickThread.run();
		}
	}

Full code at my github
Thanks for any input you guys have!