Startup Delay

[Alan Anderson]

Did you change Robot Main? Teams are supposed to leave it alone and put all their custom code in other places.

I do see something that might be the cause of the problem. You chose your own name for the drive motors device reference. You didn't change the name from the default in Periodic Tasks, and you probably left it as the default in Disabled. Aren't you seeing continuous errors on your Driver Station when the robot is disabled, saying that "Left and Right Motors" is not defined? Those errors will clog up the communication, and could possibly be the reason for things remaining unresponsive for a few seconds after being enabled.

One other thing: your ball density check isn't in a loop. It's only going to run once when the program starts up.