I have set up a PID controller to control wheel speed by manipulating torque on a wheel, but I would like this PID controller to kick in at t=3 seconds and output a torque of 0N*m until then. After t=3s, I would like the PID controller to function as if there was never any delay if that makes sense. I have tried the delay blocks, but the problem with those is that at any time t, the PID controller is using speeds from 3 seconds ago and not the current wheel speed. Is there a way to simply inactivate my controller until 3 seconds have passed and then have it function as normal?
Below is a screenshot of my feedback loop thus far: