Easy C programming VEX IQ pausing

Team is using EasyC for our VEX IQ autonomous Next Level. They have the program to do tasks but sometimes certain parts of the program will take 30 seconds to run and other times 45 seconds. The battery is fully charged. There are no wait or stop blocks in the program. How can it be more consistent?

There should be short delays between actions to give the motors a break. Moving one direction full speed and suddenly having to move the other direction full speed is very bad for them.