Refactor Commands To Not Constantly Send Subsystem Messages

[stulewin]

Some commands are really just making an initial call to the subsystem which starts it working. But the call in execute() continually repeats it, which results in extra code calls in the robot as well as CAN bus messages, etc. Don't think it can go in the initialize() method based on how commands are scheduled. So need to implement some kind run it once on first invocation and then ignore for each subsequent call.