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And to viggy96, I totally get what you mean by "cheating". I personally prefer to code by hand and learned to work with our robot this way. However, I'd like to defend my program a little. When I started robotics I already had a solid foundation in programming, so I only had to learn the robot-specific things. However, for teams without experienced programmers I hope that my tool can be useful. And for experienced programmers, I think it can still be useful for making autonomous modes (which I find frustrating and time-consuming to do by hand) quickly and consistently, allowing time for more interesting parts of the robot, such as vision and working around the tight schedule of competitions.