@@ -0,0 +1,1109 @@
+package com.edinarobotics.zephyr.autonomous;%0A%0Aimport com.edinarobotics.utils.autonomous.AutonomousStep;%0Aimport com.edinarobotics.zephyr.Zephyr;%0Aimport edu.wpi.first.wpilibj.Timer;%0A%0A/**%0A * This class causes the robot to maintain its current state for a specified%0A * length of time.%0A */%0Apublic class IdleWaitStep extends AutonomousStep%7B%0A    private double idleTime;%0A    private Zephyr robot;%0A    private boolean isFinished;%0A    private Timer timer;%0A    %0A    /**%0A     * Constructs an IdleWaitStep that idles for a the specified length of time%0A     * in seconds.%0A     * @param waitTime The time in seconds to wait.%0A     * @param robot %7B@link Zephyr%7D%0A     */%0A    public IdleWaitStep(double waitTime, Zephyr robot)%7B%0A        this.idleTime = waitTime;%0A        this.robot = robot;%0A        isFinished = false;%0A        timer = new Timer();%0A    %7D%0A    %0A    public void start()%7B%0A        timer.start();%0A    %7D%0A    %0A    public void run()%7B%0A        robot.mechanismSet();%0A        if(timer.get() %3E= idleTime)%7B%0A            isFinished = true;%0A        %7D%0A    %7D%0A    %0A    public boolean isFinished()%7B%0A        return isFinished;%0A    %7D%0A%7D%0A

Add IdleWaitStep to handle waiting in a fixed state during.