Command based code secan

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This is my first year helping a team with some robot code. We are focusing on the command base robot model. We would like to do some acceleration control and other timed loops. I'm familiar with Vex and have done similar control using while loop and using a wait instruction at the end to use as the time calculation. With the FRC system do i or can i use a loop and wait code or use the FRC periodic cycle? I may not be using the right term to describe what I'm looking for but I hope you understand and can direct me.

Thanks