[AlexBrinister]

We just have it in our TeleopPeriodic() loop running at whatever interval we set it to from the Dashboard. Personally, I would just make a function and put it in a vxWorks task instead of thinking about it too hard. But then again, that would defeat the purpose of Command-based robot, which is to eliminate any reason why you would worry about relatively complex things like threading.

Alex Brinister