Need Help With Encoders

[SPQLrobotics]

To answer all questions at once, the code compiles and runs, the arm will lower (the motor called pneumatic lowers our pneumatic arm, as it has to start at an angle to be within the bumpers). The robot will then not move at all. We are attempting to have it move forward through the low bar and back, which is about 4 wheel rotations for the encoders - the time was an estimate and just a test for movement. We are going to move the default to the end of the code. The only time we actually got movement was using a while loop with encoders, but the robot continuously drove forward and the loop delayed driver control in teleop.