PID & One Second Delay Between Auto and TeleOp

[GeeTwo]

Glad to see the picture - not what I hand in mind (I was thinking of an overhead arm). Putting the arm vertical or nearly vertical leaning against the tall frame would presumably handle the temporary "storing the bin in a different position where if the PID disables none of the parts of the arm will droop".

Would it help if you used your temporary solution, then at the beginning of teleop, the robot automatically moved the arm to the "docked" position, without waiting on driver input?