[WizenedEE]

That sounds exactly what I'd do.

Of course, if you were using the "independent" autonomous, you'd have to change it to "iterative" so that robot main keeps looping. You'd also have to figure out a way to turn it off, although a simple toggle switch for either on or off would work nicely.

And assuming that your normal autonomous doesn't turn in circles, I don't see why the same code in teleop would.