[EricS-Team180]

I second what RufflesRidge and Mark McLeod suggest.

I don't know if this helps, since we use the Iterative Robot template and C++ , but syntax is syntax - ha!

The Iterative Robot template provides DisabledPeriodic, AutonomousPeriodic and TeleopPeriodic, functions with counters like :

m_telePeriodicLoops ... look famaliar?

The Periodic functions loop at 5msec which we have found will swamp the cRio if we have a lot to control. So we use a modulo to schedule most of what we do at slower rates:

if((m_telePeriodicLoops % 2 ) == 0)
{
// do stuff every 10msec
}

would be a 10msec loop for instance.

We typically find that 10-20 msec loops are more than adequate for smooth control.

I miss not being at Palmetto this year. Good Luck!
Eric