Well what you could do is that rather then having it send the code repeditaly which could cause some problems, have it so it sends the code only when the button is pressed or released. Then have the robot would automaticly repeat the procedure untill the code comes that tells the robot that the button has been released and to stop the procedure. by doing so you would be sending only 2 codes rather then needing to send the same code 20 times.
Also you cant have more then 4 procedures since u need to write all the procedures u have on that little piece of paper which you are allowed to put only 4 rocedures on. However... you forget about the null pocedure. So in essence there can actually be 5 procedures.
The easyest way to use the command buttons is to have one go forward, one to go left, one to go right, one to deploy the mechanism for knocking the ball down, and stop as the null command.