[RKazmer]

2363 did this in Ultimate Ascent for the tower hang. They used a program that,when the button was pressed, would take the signals from the driver and save them. Then when the game was about to end, the driver would hit a button and the entire hanging process was automated. As long as the robot was aligned with the pyramid, it would hang perfectly. Although it was during the teleop period, I think the same type of thing could work with basic maneuvering.