Has anyone else had trouble staying within the 10 second limit in autonomous?

[Oumonkey]

I still haven't been able to mess with auto mode but is it really that hard to get everything in 10 secs?
Also is there any other purpose for the camera outside of auto mode, I was thinking if I could get a led rigged up, or maybe one of those pwm01/pwm02 leds on that one.....thingy....I don't remember what its called, the one that you plug in the controllers to. But I was thinking to hook up a led so that when it was lined up to the goal it could light up so we know when to shoot.
Also I'm dead reckoning, I have a feeling I will want to cause pain to something/someone afterwords....
I should try a pot, but I just don't think we have enoguh time left me me to learn how to.