Hypothetical auto proggraming method

[Epsilon 5]

For the actual movement during auto, you should not be recording the joystick movement. If you want it to be accurate, you should put encoders on the wheels, and record how far each side travels. This would allow you to compensate for different voltages and surfaces, because you are not sending the motors a specific power for a specific time, instead you are telling them to move for a specific distance.