PID & One Second Delay Between Auto and TeleOp

[WillNess]

This year we have a giant arm that sticks behind our robot, with two joints. At the end of an arm is a claw. One of our autonomous modes is that the both parts will drop down, our robot will drive backwards, our claw will close on the bin on the center step, and the arm will then fold up and set the bin so that it is resting on our robot while still grabbing the bin. The problem is, during the one second between autonomous and teleop, our PID is disabled so the arm droops a little and some of the time we drop that bin. I've temporarily fixed the problem by storing the bin in a different position where if the PID disables none of the parts of the arm will droop, but it is vital for our drivers to start in the docked position.
So:
- Is it possible to operate the PID during this 1 second delay?
- Is this delay considered "disabledPeriodic"
- Are there any other fixes?