[Ether]

The TeleOp period is 20ms (50Hz).

The default period for Java PID thread is 50ms (or at least it was in 2013).

Excerpt from 2013 PIDcontroller.java:

/**
 * Class implements a PID Control Loop.
 *
 * Creates a separate thread which reads the given PIDSource and takes
 * care of the integral calculations, as well as writing the given
 * PIDOutput
 */
public class PIDController implements IUtility, LiveWindowSendable, Controller {

    public static final double kDefaultPeriod = .05;


  /**
     * Allocate a PID object with the given constants for P, I, D, and F
     * @param Kp the proportional coefficient
     * @param Ki the integral coefficient
     * @param Kd the derivative coefficient
     * @param Kf the feed forward term
     * @param source The PIDSource object that is used to get values
     * @param output The PIDOutput object that is set to the output percentage
     * @param period the loop time for doing calculations. This particularly effects calculations of the
     * integral and differential terms. The default is 50ms.
     */
    public PIDController(double Kp, double Ki, double Kd, double Kf,
            PIDSource source, PIDOutput output,
            double period) {