Resolved artf3579: robot can no longer be enabled until robotInit() finishes in IterativeRobot; similar options available by overriding prestart() for other base classes.

Change-Id: I07fde4b1bd2fae0c2e2a04336639b44ec715628a

wpilibc/wpilibC++Devices/src/IterativeRobot.cpp

@@ -36,6 +36,11 @@ IterativeRobot::~IterativeRobot()
 {
 }
 
+void IterativeRobot::Prestart() {
+	// Don't immediately say that the robot's ready to be enabled.
+	// See below.
+}
+
 /**
  * Provide an alternate "main loop" via StartCompetition().
  * 
@@ -54,6 +59,12 @@ void IterativeRobot::StartCompetition()
 	NetworkTable::GetTable("LiveWindow")->GetSubTable("~STATUS~")->PutBoolean("LW Enabled", false);
 	RobotInit();
 
+    // We call this now (not in Prestart like default) so that the robot
+    // won't enable until the initialization has finished. This is useful
+    // because otherwise it's sometimes possible to enable the robot
+    // before the code is ready.
+	HALNetworkCommunicationObserveUserProgramStarting();
+
 	// loop forever, calling the appropriate mode-dependent function
 	lw->SetEnabled(false);
 	while (true)