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Theres a variable Auton_mode built into the program. When the variable is set to 1 the robot doesn't respond to user input and acts soley on the code. When the variable is set to 0 the robot will respond to user inputs. Just be sure to set up your program so it ignores the user section durring autonomous mode and ignore the autonomous section durring the user mode.
As for a kill switch theres a post about that somewhere describing a 3 way switch. 1 for off, 1 for autonomous, and 1 for changing channels. I guess it'd really be a 4 way switch with 1 spot thats a neutral position.
If you search the general forum or the programming forum you should be able to find more details on both of these.
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