[Alan Anderson]

You can program what you like, but if the robot is disabled none of your actions will have an effect. All PWM and relay outputs will be disabled, so no motors will run. Solenoid outputs will be disabled too, so no pneumatics will activate.

There's one half-exception to that. You can use a single-acting pneumatic solenoid valve that will automatically switch back to its "resting" state when the robot gets disabled, making it possible to perform a single action right at that moment. Some teams have managed to engineer a mechanism that achieves a game goal based on that.