Sequencing Question

[Egg 3141592654]

So i had programmed an arm via a PID loop for our autonomous code. Naturally, I put this in a sequenceing loop so that the arm would raise BEFORE the robot went barreling into the plexiglass wall. I was told the wrong times that the arm would complete it's cycle, and naturally it was too short. The arm in autonomous naturally during the match kept going during the match and blew the arm out (those at nycfrc got to see the nice show. Match 8 i believe).

My hypothesis on what happened is that the PID ended after the time sequence and the motors retained their values (in our case, full throttle). I am almost certain this is right, but i just want to check with you guys. Thank you in advance.