Timers and Such

[Inverted]

I've forgotten most of the C that I learned a few years ago, and my mind has been clouded with the InteractiveC commands that we use in my robotics class (stupid LEGO RCX). I know about incrementing timers and doing, for example:

 timer1++;
if (timer1 < 200){
blah blah;
}

My question is does a C command exist that is the equivalent of InteractiveC's "sleep()" function? We want to have a dead reckoning backup and it would be a lot easier for me to train newbies if we could do the following instead of the former, since they already know how to write those type of programs.

pwm13 = pwm14 = 167;
pwm14 = pwm15 = 87;
sleep(2.0); //drive forward for 2 seconds
pwm07 = 205;
sleep(.5); //raise arm
blah blah

Is that possible or am I just out of luck with doing things the easy way?