[Luke Pike]

I had something like this happen to me early on. The robot monitors all inputs, including the camera, so all your algorithms get messed up. What I do is disable vision completely when disabled, and set the servo positions to the middle. That way when the robot is enabled, everything is ready to go.

It seems like you want to still do camera stuff in disabled mode, though. Perhaps you can make the robot mode a global, and check for the "Disabled" mode in the Gimbel track vi. Just never let it go past that point until you are enabled.