Help with the 2 "advance and rewind" functions, how do I make them execute at a certain time in the autonomous period?

[fersh_miranda]

/*----------------------------------------------------------------------------*/
/*                                                                            */
/*    Module:       main.cpp                                                  */
/*    Author:       VEX                                                       */
/*    Created:      Thu Sep 26 2019                                           */
/*    Description:  Competition Template                                      */
/*                                                                            */
/*----------------------------------------------------------------------------*/

// ---- START VEXCODE CONFIGURED DEVICES ----
// Robot Configuration:
// [Name]               [Type]        [Port(s)]
// Controller1          controller                    
// llantas_derechas     motor_group   15, 16          
// derecha              motor         20              
// llantas_izquierdas   motor_group   12, 13          
// izquierda            motor         11              
// intaker              motor         2               
// elevacion            digital_out   A               
// ---- END VEXCODE CONFIGURED DEVICES ----

#include "vex.h"

using namespace vex;

// A global instance of competition
competition Competition;


// 12.667061 pulgadas de circunferencia o revolucion
//(36/60) = 0.60 por cada revolucion de la llanta
//el avanze del motor por cada revolucion del motor es igual
//al aumento de revoluciones multiplicado por la circunferencia de las ruedas
// "valor aun indefinido" avanze del robot en pulgadas por cada revolucion del motot



//loadbar= 35.6 pulgadas de longitud

float loadbar= 4.684064704;
// la distancia "la mitad de la llanta" de las llantas por π entre 360
// float grado = 0.087266462;

float grado=0.01157/2;
// por cada grado seria un total de 0.005785

float tatami= 3.5525209834;


void avanzar( float loadbar, int speed){

  llantas_derechas.spinFor(loadbar,rotationUnits::rev,speed,velocityUnits::pct, false);
  derecha.spinFor(loadbar,rotationUnits::rev,speed,velocityUnits::pct, false);
  llantas_izquierdas.spinFor(loadbar,rotationUnits::rev,speed,velocityUnits::pct, false);
  izquierda.spinFor(loadbar,rotationUnits::rev,speed,velocityUnits::pct, false);
}

void retroceder ( float loadbar, int speed){

  llantas_derechas.spinFor(-loadbar,rotationUnits::rev,speed,velocityUnits::pct, false);
  derecha.spinFor(-loadbar,rotationUnits::rev,speed,velocityUnits::pct, false);
  llantas_izquierdas.spinFor(-loadbar,rotationUnits::rev,speed,velocityUnits::pct, false);
  izquierda.spinFor(-loadbar,rotationUnits::rev,speed,velocityUnits::pct, false);
}


void pre_auton(void) {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // All activities that occur before the competition starts
  // Example: clearing encoders, setting servo positions, ...
}



void autonomous(void) {
  // ..........................................................................
  // Insert autonomous user code here.
  // ..........................................................................
}



void usercontrol(void) {
  // User control code here, inside the loop
  while (1) {



    //-------------chasis

    llantas_derechas.spin(directionType::fwd,Controller1.Axis2.position(percentUnits::pct),velocityUnits::pct);
    llantas_derechas.setStopping(brake);
    derecha.spin(directionType::fwd,Controller1.Axis2.position(percentUnits::pct),velocityUnits::pct);
    derecha.setStopping(brake);

    
    llantas_izquierdas.spin(directionType::fwd,Controller1.Axis3.position(percentUnits::pct),velocityUnits::pct);
    llantas_izquierdas.setStopping(brake);
    izquierda.spin(directionType::fwd,Controller1.Axis3.position(percentUnits::pct),velocityUnits::pct);
    izquierda.setStopping(brake);


    //----------intaker

     if (Controller1.ButtonR2.pressing()==1){

       intaker.spin(fwd,600,rpm);
     }

     else if(Controller1.ButtonR1.pressing()==1){
       intaker.spin(reverse,600,rpm);
     }

     else{
       intaker.stop(hold);
     }
     
     
     //--------piston elevacion

     
     if (Controller1.ButtonL1.pressing()==1){
       elevacion.set(true);
       }

     else if(Controller1.ButtonL2.pressing()==1){
       elevacion.set(false);
       }









    wait(20, msec); // Sleep the task for a short amount of time to
                    // prevent wasted resources.
  }
}

//
// Main will set up the competition functions and callbacks.
//
int main() {
  // Set up callbacks for autonomous and driver control periods.
  Competition.autonomous(autonomous);
  Competition.drivercontrol(usercontrol);

  // Run the pre-autonomous function.
  pre_auton();

  // Prevent main from exiting with an infinite loop.
  while (true) {
    wait(100, msec);
  }
}

edit : code tags added by mods, please remember to use them.

[Owlumination7865E]

Please specify. But if I understand fully the “advance and rewind” are movements of the robot. If so you can either implement a system to tell weather or not you have finished driving there, or you can time how long the movements take and then put wait(example time, msec); this would wait until how it should take to finish, and then run the other command.