Oh yeah totally been done. Both by others posted above and
But I completely agree with @PortalStorm4000 . It is not the most reliable method of coding autonomous. If you were going to invest the effort to create a system like that, you would do better to make a form of position tracking or PID control. If you wanted to use someone else’s system, ok. Many coders use functions like @PortalStorm4000 said to call a sequence of commands that take a lot of code to call on their own. I have a function to move the arms and intake treads so that the intakes will passively flip out in autonomous for example. If you want to read more about functions try here .