[Billy_B]

How 2704 does our code (and it's different than most teams) is we program entirely with Event Driven State Machines, so our code is written as a lot of reactions to what is happening instead of like a script. Then if we want to run it we pretty much just tell the code to go.

Edit:
So in periodic the code only gets called as often as you call it, in our code it is called every iteration and figures out what needs to do from that. In 2704's paradigm we assume that our code is called every single iteration, even if it does nothing that iteration.

Edit #2:
In Periodic it runs through the entire code every iteration, every 50ms all of teleop will run, or all of autonomous will run; wheras in SimpleRobot you write it more like a script, loop here loop there, in Iterative you write it in a lot of State Machines