Instantiate ImageAction at start up rather than at use. Attempt to eliminate odd pause at 20 seconds.

Author: jasenj1

src/main/java/frc/robot/Robot.java

@@ -39,6 +39,7 @@ public class Robot extends TimedRobot {
 
   private static final int NUM_LOOPS = 40;
   private int delay = NUM_LOOPS;
+  private IdleCommand idleCommand = new IdleCommand();
 
   /**
    * This function is run when the robot is first started up and should be used
@@ -153,7 +154,7 @@ public void autonomousPeriodic() {
   public void teleopInit() {
 
     Status.getInstance().setTeleopStartTime();
-    new SetColor(Status.getInstance(), Color.kBlack).andThen(new IdleCommand()).schedule();
+    new SetColor(Status.getInstance(), Color.kBlack).andThen(idleCommand).schedule();
 
     // new SetColor(Status.getInstance(), Color.kDarkOrchid).schedule();
     // new ActionCommand(new ScannerAction(245, 0, 255, 200)).schedule();

src/main/java/frc/robot/status/commands/IdleCommand.java

@@ -28,6 +28,8 @@ public class IdleCommand extends CommandBase {
     private Status status;
     private boolean actionSet;
     private int phase = 0;
+    private Action twentySecondsAction = new ImageAction("yellow_stripes.png",0.05);
+    private Action tenSecondsAction = new ImageAction("noise.png",0.15);
 
     public IdleCommand() {
         this.status = Status.getInstance();
@@ -63,13 +65,13 @@ Do some gymnastics to try to generate an elapsed time from getMatchTime().
         Action action = scannerAction;
         // new PrintCommand("Time Left = " + String.valueOf(timeElapsed)).schedule();
         if ( 115.0 < timeElapsed && (0 == phase)) { // 20 Seconds left
-            action = new ImageAction("yellow_stripes.png",0.05);
+            action = twentySecondsAction;
             phase = 1;
             actionSet = false;
         }
 
         if (125.0 < timeElapsed && 1 == phase) { // Last 10 seconds
-            action = new ImageAction("noise.png",0.15);
+            action = tenSecondsAction;
             phase = 2;
             actionSet = false;
         }