This is the first time I have gotten into using URL parameters to control various events and I am having a few problems.

What I need is to be able to click on a link that opens a lightbox with a contact form inside to contact a specific member.

I have set up my routes.yml file as follows:

---
Name: popuprules
---
Director:
  rules:
    'contact-pop-up//$Action/$ID': ContactPopUp

My ContactPopUp.php file:

class ContactPopUp extends Controller {
	
	private static $allowed_actions = array(
	     'contactmember',
		 'ContactForm'
	);
	
	public static $url_handlers = array(
        'contactmember/$Action/$ID' => 'contactmember'
    );
	
	public function contactmember(SS_HTTPRequest $request) {
		$member = Member::currentUserID();
		if($member){
			return $this->ContactForm();
		} else {
			return 'not logged in';
		}
    }
	
	public function ContactForm(){
		$MemberID = $this->request->param('ID');
		$do = Member::get();
		$do = $do->filter(array('ID' => $MemberID));
		foreach($do as $member){
			$to_email = $member->Email;
		}
		
		$fields = new FieldList(
			new TextField('Name'),
			new EmailField('Email'),
			new TextField('Subject'),
			new TextField('Phone'),	
			new TextAreaField('Message','Message'),
			new HiddenField('EmailTo', '',$to_email)	
		);
		
		$actions = new FieldList(
			new FormAction('submitContact', 'Submit')
		);
		
		$form = new Form($this, 'ContactForm', $fields, $actions);
		
		return $form;
	}
	
	function submitContact($data, $form) {
        $from = $data['Email'];
		$to = $data['EmailTo'];
		$subject = 'Enquiry';
		$email = new Email($from, $to, $subject);
		$email->setTemplate('ContactEmail');
		$email->populateTemplate($data);
		$email->send();
        Controller::redirect($this->Link("?success=1"));
    }
	
	

}

But I keep getting the result

Action '3' isn't available on class Form.

Where 3 is the correct user ID I want to access.

How do I make this available on the form class? Do I need to add something else to the routes.yml file?

Hoping someone can help.
Thanks