Mobile Goal lift hitting DR4B

I know this is probably a pretty commonly asked question, but is there and way to prevent the mobile goal lift from hitting the dr4b as it deploys.

Either deploy the mobile goal lift after the dr4b is raised or build them in such a way that they do not collide in the first place.

This was the first automation step my students implemented, since it was, like, a line of code (in fact 4, code is their, comments are mine for you, and as a reminder for them to put those bloody comments in):

if(vexRT[Btn6U]) { // the "MoGo down" button
    if(liftTarget < 20) { // the condition when the RD4B is too low
        liftTarget = 20; // instruct the RD4B to raise a bit
        wait1Msec(200); // delay the MoGo enough to let the RD4B get out of the way
    // normal/original MoGo control code below... 

Needless to say that this interlock was only implemented in the teleop code, thus for auton, they have run into the same issue again - but at least in Auton, you know what is going to happen when and can sequence the actions explicitly…