Sometimes robot code doesn't start

Got a weird glitch this year where sometimes the first time the code runs and we enable all of our motor controllers (Sparks) turn solid blue but don’t respond to our joystick/auto commands. Also none of our sensors report back. So I know the first culprit would be “oh it probably crashes on start sometimes” but I checked RIOLog and the DriverStation and that is not the case. A simple restart of the code fixes this issue but this could be a problem when we are on the field and auto doesn’t work.
Our code is linked here: https://github.com/furiousfalcons4328/SamFlynn
Any ideas?

I see you’re using timed robot. Check this thread.