Going by that quote, they were saying timing on the
button push not the actual command. This still would be another command and from that one update that clarified it it looked legal to me. The thing with my idea for the stop is so we have a safety, and if it
is pushed we are not stuck for the rest of auton.
Also, I would use 1 second or something like that just to make it look better for the judges or people like that, and incase you don't keep getting the signal.