[eugenebrooks]

Prior to the start of the hybrid period, the robot is disabled
and is running through the packet handling loop that is normally
used for the operator controlled period. During this time you
might receive the IR commands and set a state variable
to the values 1, 2, 3, or 4, based on the last command seen.
During the hybrid period, the robot will be controlled by the
"autonomous" packet loop, and you might execute one of four
plays based on the value of this state variable. The total number
of plays might be greater, selected by other switches on the robot
that are set when the robot is set in its starting position, but you
can only select one of four plays with the IR commander after
the balls are placed and these plays must be posted.

An alternative approach is to establish some limited remote control
of the robot using four available actions, coded entirely in the autonomous
code, subject to the applicable rules.