You should be starting your camera and initializing the gyro in the Initialization() function. I would also recommend starting timers and pretty much any other sensor in there as well. That way its ready once the program starts. Our team had no problems with startup delay.
Nice Robot and good job in automous by the way!
I would also recommend to any team in general if you don't want
to use the camera to drive use it for a manual aiming system that lights up the LEDs on the OI. I would recommend that you also fix the camera because it
complicates things when its panning and tilting.
I think going to post a program today with a function any team can import
to use a fixed camera mount to use it and the OI aim manualy with the camera.