[Greg McKaskle]

I didn't look at the code, but I have a pretty good guess as to what will explain your issue.

Disabling an output prevents it from controlling a motor, spike, etc. It doesn't zero the value, however. This means that the setpoints for speed of a motor are still sitting there waiting to be enabled again.

One approach to consider is to zero the values in the disable VI. You can also do this initialization in the first frame of teleop. The Call Context will be Init on the first call.

Greg McKaskle