[Joe Ross]

As the others have stated, the problem is that you have your gyro open in autonomous independent. This delays for 2 seconds.

Move the gyro open to your basic robot main, outside the while loop, and publish the dev ref with a global variable (I see you do this already with your encoders).

It's probably too late for this year, but next year you guys should look at the advanced framework. It should help keep your code more organized.