What Emily describes is perfectly allowable as part of robot preparation in Rules 41 and 36.
As described, it simply looks like two robot restarts with a short program running in between.
The team is actually also allowed to run a program while handling the robot--just let the referee know that you are not actually trying to restart and leave Base until everything is ready, as described in Rules 39 and 40.
VA-DC FLL Referee Advisor
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