Sequence of solenoids triggered by a button?

[Team1908]

Our programmers are trying to code a sequenced structure that will change the states of some solenoids in a certain order. They want to do this so that the next set of solenoids fires only after a certain amount of time has passed after the previous set of solenoids has fired. They are also considering having one step wait on an input from a digital input change before the next step, along with the rest of the process, continues.

What would be the simplest way to program this for the teleoperated period? Also, what would be the best way to program this for the autonomous round, so that the robot can perform the process by itself?