[Oromus]

1). The solution to the first problem is definitely moving the macro code to a separate Thread. The only other way is for the creators of the macro to add a wait function that both freezes the Thread and notifies the macro code of the delay.

2). The inaccuracy problem is due to how the macro works at it's core. The macro records the motor speed values and how long they were maintained. The problem is that at different battery voltages, motor speed values change. For example, on a fully charged battery, a motor running at 0.8 might go at "10 speed". On a slightly less charged battery, a motor running at 0.8 will go at "7 speed". This causes the Robot to drive different distances and turn to different angles based off it's current battery charge. This variance will be present even between two different fully charged batteries, just to a lesser extent. This problem isn't really solvable on your end; your options are wait for a change in the macro, write your own code that tracks more trust-able data (i.e. encoder and gyroscope values instead of motor speeds), or just write a normal autonomous that doesn't work off of recording teleop actions.