[jacobhurwitz]

The rules actually specfically say no Morse code. The way I now interpret them is that each button has to have a specific task, but it can do more than one thing. For example, toggling the arm could be one button, toggling drive direction could be another. You could also have multi-function buttons, for example, one button to raise arm, move it forward, move it back, and bring it down. But you cannot have a button that sometimes drives forward, and sometimes moves the arm, and sometimes does something else depending on what the robot is now doing. That is, an "advance to the next state" button is not allowed because the rules in section 8 clearly say there can only be four "states."