[bilal1219]

well, There is something called COPYCAT code.What happens is the code is executed with the trig of joystick 2. Joystick 1 will be used for driving as usual. What it does is it records the exact movements of the robot while that trigis pressed. so after doing the recording reset the robot and run the autonomus mode.

There is no Time limit to the copycat code,as you explained that the bot has to go through a door. So what you can do it put the robot in the starting position and driver the robot as you would usually do in the teleoperated mode and mke it go throught the doors. after you done recording, bring the robot back to its starting position, and start your auto.