How to use the wpilib.Timer function in wpilib

self.lr_motor = wpilib.CANTalon(10)
        self.rf_motor = wpilib.CANTalon(15)
        self.rr_motor = wpilib.CANTalon(20)   
        
        self.robot_drive = wpilib.RobotDrive(self.lf_motor, self.lr_motor, self.rf_motor, self.rr_motor)
        
        self.leftArm = wpilib.CANTalon(25)
        self.rightArm = wpilib.CANTalon(30)
        
        self.leftBall = wpilib.Talon(9)
        
        self.winchMotor = wpilib.Talon(0)
        self.kickMotor = wpilib.Talon(1)
        
        self.flashlight = wpilib.Relay(0)
        self.lightTimer = wpilib.Timer()
        self.turningOffState = 0
        self.lastState = False
        
                
        ##DRIVE ENCODERS##
        self.rf_encoder = driveEncoders.DriveEncoders(self.robot_drive.frontRightMotor, True)
        self.lf_encoder = driveEncoders.DriveEncoders(self.robot_drive.frontLeftMotor)
        
        ##DISTANCE SENSORS##
        self.back_sensor = distance_sensors.SharpIRGP2Y0A41SK0F(0)
        self.ultrasonic = wpilib.AnalogInput(1)
        
        ##NavX##
        self.navX = navx.AHRS.create_spi()

        ##SMART DASHBOARD##

def __init__(self, intake):
        self.intake = intake
        self.is_running = False
        self.state = START_SPIN
        self.timer = wpilib.Timer()
        self.timer.start()

self.sd = NetworkTable.getTable('SmartDashboard')

        self.positions = [
            self.sd.getAutoUpdateValue('Arm/Bottom', 3600),
            self.sd.getAutoUpdateValue('Arm/Middle', 2635),
            self.sd.getAutoUpdateValue('Arm/Top', -20),
        ]
        self.position_threshold = self.sd.getAutoUpdateValue('Arm/On Target Threshold', 25)
        self.wanted_pid = (
            self.sd.getAutoUpdateValue('Arm/P', 2),
            self.sd.getAutoUpdateValue('Arm/I', 0),
            self.sd.getAutoUpdateValue('Arm/D', 0)
        )

        self.calibrate_timer = wpilib.Timer()

def teleop():
    dog = wpilib.GetWatchdog()
    dog.SetEnabled(True)
    dog.SetExpiration(0.25)
    shiftTime = wpilib.Timer()

    shiftTime.Start()

    while wpilib.IsOperatorControl() and wpilib.IsEnabled():
        dog.Feed()
        checkRestart()

        if shiftTime.Get() > 0.3:
            shifter1.Set(False)
            shifter2.Set(False)

        # Shifter control
        if rstick.GetTrigger():
            shifter1.Set(True)
            shifter2.Set(False)
            shiftTime.Reset()

import functools
import wpilib
import inspect

import networktables

from robotpy_ext.misc.orderedclass import OrderedClass


from .magic_tunable import tunable

if wpilib.RobotBase.isSimulation():
    from wpilib import Timer

    getTime = Timer.getFPGATimestamp

else:
    import time

    getTime = time.monotonic


class IllegalCallError(Exception):
    pass


class NoFirstStateError(Exception):
    pass


class MultipleFirstStatesError(Exception):

def OperatorControl(self):
        dog = self.GetWatchdog()
        dog.SetEnabled(True)
        dog.SetExpiration(0.25)
        shiftTime = wpilib.Timer()
        haveTime = wpilib.Timer()

        shiftTime.Start()
        haveTime.Start()

        intakeVelocity = -0.75

        while self.IsOperatorControl() and self.IsEnabled():
            dog.Feed()
            CheckRestart()

            if not HaveBall():
                haveTime.Reset()

            # Reset pneumatics
            if shiftTime.Get() > 0.3:

def autonomous(self):
        '''Called when autonomous mode is enabled'''
        
        timer = wpilib.Timer()
        timer.start()
        
        while self.isAutonomous() and self.isEnabled():
            
            if timer.get() < 2.0:
                self.robot_drive.arcadeDrive(-1.0, -.3)
            else:
                self.robot_drive.arcadeDrive(0, 0)
            
            wpilib.Timer.delay(0.01)

def operatorControl(self):
        """Runs the motors with onnidirectional drive steering.
        
        Implements Field-centric drive control.
        
        Also implements "rotate to angle", where the angle
        being rotated to is defined by one of four buttons.
        
        Note that this "rotate to angle" approach can also
        be used while driving to implement "straight-line
        driving".
        """
        
        tm = wpilib.Timer()
        tm.start()
        
        self.myRobot.setSafetyEnabled(True)
        while self.isOperatorControl() and self.isEnabled():
            
            if tm.hasPeriodPassed(1.0):
                print("NavX Gyro", self.ahrs.getYaw(), self.ahrs.getAngle())
            
            rotateToAngle = False
            if self.stick.getRawButton(1):
                self.ahrs.reset()
            
            if self.stick.getRawButton(2):
                self.turnController.setSetpoint(0.0)
                rotateToAngle = True
            elif self.stick.getRawButton(3):