Sure, no problem.
Seriously, you'll need to make the robot pretend someone is at the controls doing things at exactly the right time to make it do what you want. If you can detail the sequence of events necessary for driving forward and kicking, at the level of "run this motor at 70% power" or "delay 320 milliseconds" or "turn on this pneumatic solenoid valve", you can easily translate that into something that will fit in Autonomous Independent.
If you want to do things based on robot sensor feedback instead of time, you can do that too. You'll just have to have good detail on exactly what the sensors need to read before you move on to the next step in the sequence.