This seems very nice in theory, but I don't believe the input had to be via controller. The idea of recreating the motion on a controller during autonomous is great, but I feel like it's too susceptible to human error (this is referencing the other thread linked:
http://www.chiefdelphi.com/forums/sh...d.php?t=136151)
In your scenario, coding it with a small and specific amount of lefts or rights and one up seems so easy to code that you wouldn't need to set it up with a joystick/controller; you could simply have an electronic interface in which you specify the defense number you're crossing and your initial position. A complex path is difficult to maneuver perfectly with a joystick, and the simple choice of a defense is easy enough to not need a controller.