Is it possible to turn PID on and off within a program?

Hi, I am trying to use PID in the autonomous of my robot. However, I have found that, in User Control mode, there is a lot of input lag with the joystick when using PID. Therefore, I would like to be able to turn PID on during autonomous, but turn it off during operator control mode. However, because the PID option is specified in the header, how do I do this?

To turn PID off in code use something like

nMotorPIDSpeedCtrl port2 ] = RegIdle;