Sorry should of explained it clearer.
Ignoring the serial stuff, if I wanted to move the actuator forward for 5 seconds it would look like this.
analogWrite(PWMPinA1, Speed); //apply desired speed
analogWrite(PWMPinB1, 0); //apply no speed
delay(5000);
Pretty simple. If I put the delay to 0, it does nothing, understandable. But when I put in the serial stuff, and type in the case A, it will extend even though it should'nt be since the delay is set to 0.