Autonomous suddenly pausing

For some reason, my auton code suddenly stops when I test it. And this makes it so I go over the 15-sec mark pls help

sir, could i please see some of your code to help?

Screenshot (152)

I am pretty sure it is becuase the v5 brain can only run so many tasks at once—each broadcast for all of you mechanisms is a new task. to fix this, you could
a. instead of broadcasting a new message for each mechanism, make a new function(block) with all of the code that used to be in the broadcasts.
or
b. remove the broadcasts and put the stuff coded in them instead directly on the autonomous hat.

 Hope this helps, Runts165

(Also, 2 mins ago I found out that we qualified for state)