If you want to be really,
really ghetto you could map a button to a boolean (isDisabled) and just surround everything in teleop and autonomous with
Code:
if(!isDisabled) {
}
Now that I think about it, if you surround the scheduler parts with that it might actually work...although there won't be an easy way to re-enable it -- in that case, just put something in teleopPeriodic that's a toggle.