[Ozuru]

It looks neat, but it appears to have the flow of a drag-and-drop program (especially the programming language that FIRST Lego League uses). Try taking a different approach and plotting them on a top-down field; for example, you would tell it to go to this point on the image and it would do a simple calculation to calculate the amount of inches away or so you are and then generate the code necessary for driving to that location. Does that make sense? Autonomous scripting like this has been done before but only one team has done what I mentioned (PiggyPlotter is the name I think) and it's not open-source.

Nevertheless, great job so far! There looks to be a lot of time put into it.