Don't put a loop in Disabled() because when the robot is disabled that function loops on its own.
Having code run in Disabled(), such as variable updates and prints, is fine. However, putting code that could potentially move or control the robot would defeat the purpose of having a Disabled() function.
This is usually what my Disabled() function looks like:
Code:
void Robot::Disabled()
{
printf("Robot Disabled!!\n");
}