Programming Buttons

[bensen19r]

Hello there, I am here to request your help with a specific task with buttons. To start with, our buttons are booleans, and when i find it, I will post how they are declared/used etc. For now though, what I would like help with doing is
When I press a button, no matter how long I hold it, it will run the motor for a selected time.

To be more exact and say exactly what I'm doing, I want it so when our secondary driver presses and holds a button, it will intake the ball all the way(this is already done), then I want him to be able to press a button and have the boulder go down just the right amount(with testing it turned out to be .15 seconds at %80 power). Finally, he will press 1 more button and it will turn on the shooter(s)(Top and Bottom) at 100% power for about 2 seconds then intake the boulder for a short amount of time. What this does in simpler terms is intakes the boulder all the way, puts the boulder down to the right position, then revs up the shooter(s) before intaking the boulder to shoot it.