Blocking command is not finishing

Programming Support VEXcode Pro V5 Text Tech Support
#1

FrontLeft.setVelocity(60, pct);
FrontRight.setVelocity(60, pct);
BackLeft.setVelocity(60, pct);
BackRight.setVelocity(60, pct);

ArmRight.setVelocity(50, pct);
ArmLeft.setVelocity(50, pct);

Claw.setVelocity(50, pct);

FrontLeft.rotateFor(fwd, 20, deg, false);
FrontRight.rotateFor(reverse, 20, deg, false);
BackLeft.rotateFor(reverse, 20, deg, false);
BackRight.rotateFor(reverse, 20, deg);
wait(500, msec);

Claw.spin(fwd);
wait(500, msec);

ArmLeft.rotateFor(fwd, 720, deg, false);
ArmRight.rotateFor(fwd, 720, deg);
// wait(1.5, sec);

FrontRight.rotateFor(1.2, rev, false);
FrontLeft.rotateFor(1.2, rev, false);
BackRight.rotateFor(1.2, rev, false);
BackLeft.rotateFor(1.2, rev);
// wait(1, sec);

ArmLeft.rotateFor(-400, deg, false);
ArmRight.rotateFor(-400, deg);
// wait(2, sec);

Claw.spin(reverse);
vex::task::sleep(500);
Claw.stop();

FrontRight.rotateFor(-1.55, rev, false);
FrontLeft.rotateFor(-1.55, rev, false);
BackRight.rotateFor(-1.55, rev, false);
BackLeft.rotateFor(-1.55, rev);

FrontLeft.rotateFor(reverse, 0.2, rev, false);
FrontRight.rotateFor(fwd, 0.2, rev, false);
BackLeft.rotateFor(fwd, 0.2, rev, false);
BackRight.rotateFor(reverse, 0.2, rev);

// wait(2.5, sec);
FrontRight.rotateFor(reverse, 1.2, rev, false);
FrontLeft.rotateFor(fwd, 1.2, rev, false);
BackRight.rotateFor(reverse, 1.2, rev, false);
BackLeft.rotateFor(fwd, 1.2, rev);

ArmLeft.rotateFor(-220, deg, false);
ArmRight.rotateFor(-220, deg);

FrontRight.rotateFor(0.75, rev, false);
FrontLeft.rotateFor(0.75, rev, false);
BackRight.rotateFor(0.75, rev, false);
BackLeft.rotateFor(0.75, rev);

Claw.spin(fwd);

ArmLeft.rotateFor(4, rev, false);
ArmRight.rotateFor(4, rev);

FrontLeft.setVelocity(20, pct);
FrontRight.setVelocity(20, pct);
BackLeft.setVelocity(20, pct);
BackRight.setVelocity(20, pct);

FrontLeft.rotateFor(reverse, 0.5, rev, false);
FrontRight.rotateFor(fwd, 0.5, rev, false);
BackLeft.rotateFor(fwd, 0.5, rev, false);
BackRight.rotateFor(reverse, 0.5, rev);

FrontLeft.setVelocity(60, pct);
FrontRight.setVelocity(60, pct);
BackLeft.setVelocity(60, pct);
BackRight.setVelocity(60, pct);

FrontLeft.rotateFor(2.6, rev, false);
FrontRight.rotateFor(2.6, rev, false);
BackLeft.rotateFor(2.6, rev, false);
BackRight.rotateFor(2.6, rev);

Claw.rotateFor(-50, deg);

FrontRight.rotateFor(-1.55, rev, false);
FrontLeft.rotateFor(-1.55, rev, false);
BackRight.rotateFor(-1.55, rev, false);
BackLeft.rotateFor(-1.55, rev);

After the arm lifts, the robot just stops. I performed some experiments and found that its the lines that block that are stopping it. When I set all movement to non-blocking and make it stop after a wait(), it works. This, however, is not ideal as I have to do trial and error or do to figure out how long to wait for. Any thoughts?