PID & One Second Delay Between Auto and TeleOp

[WillNess]

Originally Posted by 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?

That sounds like a good idea.
What I'm doing temporarily is bringing the shoulder back down to 0 degrees, and then making the elbow go to 90 degrees, in which nothing falls.
I guess at teleop init I could set both of the positions to go to docked position.
Which raises another question:
- Is there any way to do something only if the robot is in practice mode or playing an actual match?