[RyanW]

Well, in that case, what about something like "Move the arm of the robot to its other position"? Or (with Omniwheels) "Change direction of motion 90 degrees counterclockwise"? Each of these represents a fixed change from the current state of the robot, and would involve transmitting only one bit of information, but this could also be seen as "doing more than one thing".

EDIT: To everyone who keeps asking,
You can have no more than four commands being sent (G01/R69). That means no binary, no Morse code, no tapping the button really fast to make it work as a PWM input, etc.