[Joe Ross]

I believe the way you have it in the picture, the periodic tasks will not run until the while loop ends, which is probably not what you want. You should run the RobotData wire from before the while loop.

I tried to do something similar yesterday. I deleted periodic data completely, and used RobotData from the global variable. This worked sometimes and didn't work some times. I realized that in that case, there was no data dependency from begin to periodic tasks, so they started at the same time. I could be using hardware in periodic tasks that wasn't opened yet in begin. I then added a data dependency so that periodic tasks wouldn't run until begin finished, and everything is working fine.