[MrForbes]

I still don't see the big problem if you set up the robot to accept one of 4 commands at the beginning of the period, and then ignore inputs after that.

all that is required is that you coordinate with your alliance partners as to when you will be sending a signal, and make sure you don't both/all3 try to send a signal at once, and that you have your IR board set up to be somewhat directional (pointing towards your corner of the field).