Hey all-
Team 2220 implemented this at the Central Illinois Regional when Team 4009 DNA told us about a super useful tool they wrote to code autonomous programs. They had their robot programmed in Python, so we spent the night transferring the code into Java and making it work with our setup.
https://github.com/DennisMelamed/FRC-Play-Record-Macro
Here's the gist: you press a button in teleop while you're practicing that records any motions you make into a .csv file stored on the roboRio. Then during autonomous, you have it read back that file, outputting the exact same values to your motors/other things. Easy to setup, create, and change autonomous programs quickly and without a lot of planning.
Thoughts/improvements? Big thanks to Team 4009 for the idea and their code in python (you can find the link to their code in the github readme)