The easiest method is using a $35 device called a raspberry pi https://www.adafruit.com/product/3055?gclid=CjwKCAjwzYDMBRA1EiwAwCv6JqxUVimaq1_8ggOOkvZ1udK1AOMF5VyHhwqXRR9PH8CrMUWZkK5_CBoCjcMQAvD_BwE and a free software called octoprint http://octoprint.org You can bolt it directly to the side of a taz 6 https://www.thingiverse.com/thing:1663146
You basically download the octopi Linux image to the raspberry pi sd card, plug a network cable into the pi, plug the printer into the pi usb port and follow the instructions http://octoprint.org/download/ to bring it up. If you can install Windows on a computer, you can install octopi.
If you do it right, you then have a website that you can link to from your office computer to start prints. You can add a $35 camera to the pi and even watch it print from your desk.
The one downside to it is you either have a network interface OR a usb interface, not both. So your control computer with the taz would also need to use that web interface. You can password protect that interface if you like.
There are other options that do the same thing, like astroprint but they a. Cost, and b. Aren’t great.
You can get pre loaded card kits for around $65 http://www.ebay.com/itm/2016-Octoprint-3D-Print-Starter-Kit-for-Raspberry-Pi-3-Model-B-Power-Supply-Case-/222587434333?var=&hash=item33d33eb55d:m:mDEbw3hIka1fY9V_0dCwB6Q