Basic structure of a time based termination command.

gistfile1.cpp

class CommandThing ... {
        private:
                long startTime;
        //classy stuff
}

void CommandThing::Initialize() {
        startTime = GetFPGATime();  // Get a reference point
}

void CommandThing::Execute() {
        if (startTime+delay<GetFPGATime()) {  // Check to see if 'delay' is passed.
                pneumatic->Set(Solenoid::kReverse);  // If so, start disarming
        } else {
                pneumatic->Set(Solenoid::kForward);  // Otherwise, keep arming
        }
}

bool CommandThing::IsFinished() {
        return startTime+delay<GetFPGATime() && microSwitchActive;  // Check if the delay is passed, and the switch is active.
}