[demosthenes2k8]

My team has the Proxy class of our framework (which is a task that updates 50 times a second) handle a timer counting down remaining match time, and are setting the code up so that the robot will essentially ignore that button until 10 seconds remain. This means that they can hold it down, and it will "trip" as soon as the robot sees 10 seconds remaining, or just deploy at will after that time.