Cool idea for autonomous on the fly

[Shaif]

I don't know if this is possible or not but here is my idea.

What if there was a way to "code" your autonomous on the fly using your controller right before the match starts just like how you can use sendable chooser.

An example could be this:
Suppose your robot was made to go through the low bar and you have multiple bots on your team that want want to go through it during autonomous. Using this method all the members can go through the low bar without crashing into each other. By "coding" their autonomous on the fly based on the position they placed their bot when setting up.




Is this possible?