Hi, I'm the lead programmer for team 4118, Roaring Riptide. I've been working on a tool for C++ robot programs that can record acutator output values, write them effeciently to a file, read back the data from a file, and play sequentialy through the recorded outputs.
The most obvious use for this is pressing a button to start recording in tele-op, going through what you want your autonmous to do with your joysticks, and then just playing it back in autonmous.
It is fairly modular, so you can have multiple Recorder objects (essentialy just an array of actuator pointers) from which you can make many macro objects (or places to store and play values from the actuators in a Recorder).
The code is hosted
on Github, you can download it here. (please download the RiptideRecorder.zip from the most recent release) It's free software released under the MIT license. Feel free to use it and modify it (and submit those changes back to me, if you want). I hope this is useful, expecially to teams that struggle to make effective autonmous modes!
Here's a video tutorial for using Riptide Recorder with the "sample" robot templete