Drive the robot around the field and record where it goes. When you save, the tool writes a real Pedro Pathing @Autonomous file that runs unchanged on the simulator or the real robot.

1 · Record the path

Hold C (or the controller's LB) to drop a pose wherever the robot currently sits. The cyan ▲ Start marker is the robot's initial Pinpoint pose — where you physically place it before the match.

Drag a pose disc to move it, drag its arrow tip to re-aim it, or edit the x / y / heading numbers directly in the list.

2 · Mark actions

Press 1/2/3/4 (or controller A/B/X/Y) to mark an action. Each action ends the current path chain and starts a new one.

3 · Save

Type a name and click Save Capture. The tool writes <Name>.java into the current code package (overwriting is confirmed first).

4 · Loading it back for editing

To re-open a saved file here later, its // CAP: marker comments must be left exactly as generated. If you keep them intact you can hand-edit the file and still reload it; if any marker is removed, reordered, or broken, the tool refuses to load it rather than guess and lose your work.

• // CAP:FILE version=2 near the top — proves the file came from this tool. (Older version=1 files still load; saving them again writes the new field coordinates.)
• a // CAP:POSE seq=N kind=init|pose line immediately above each Pose x = new Pose(x, y, Math.toRadians(h)); — those three values must stay plain numbers (no variables or expressions).
• each action wrapped in a matching // CAP:ACTION seq=N button=X … // CAP:ACTION-END seq=N pair. You may add your own code only between those two lines — that is the one region kept verbatim on reload.