This was the purpose of
1153's Echo code (obviously not this specific purpose since we didn't know the game, but the general idea of getting the other teams to do
something).
It bypasses the difficulty of determining what the other team's controls are by allowing the teams to directly control their robot, and repeat these actions in autonomous.
Simply set up the modules (the paper estimates 30-45 minutes for a new programmer by him or herself, but it would be more like 5-10 minutes with an experienced programmer who knows the process already), create a name for each step, tell the team to do whatever it is for that step, repeat for all other steps in that autonomous, and then set up the overall autonomous mode by entering filenames. You should be ready to go in 20-30 minutes.
Its obviously not going to be as accurate as an autonomous mode that was carefully planned and debugged over several weeks, with sensors, but its
something and certainly better than sitting there doing nothing.