diff --git a/wpilibc/wpilibC++Devices/include/CANTalon.h b/wpilibc/wpilibC++Devices/include/CANTalon.h
index 838556dd6c..b1322eadcb 100644
--- a/wpilibc/wpilibC++Devices/include/CANTalon.h
+++ b/wpilibc/wpilibC++Devices/include/CANTalon.h
@@ -129,4 +129,5 @@ private:
   TalonControlMode m_sendMode;
 
   double m_setPoint;
+  static const unsigned int kDelayForSolicitedSignalsUs = 4000;
 };
diff --git a/wpilibc/wpilibC++Devices/src/CANTalon.cpp b/wpilibc/wpilibC++Devices/src/CANTalon.cpp
index 01a0185a40..c49df38369 100644
--- a/wpilibc/wpilibC++Devices/src/CANTalon.cpp
+++ b/wpilibc/wpilibC++Devices/src/CANTalon.cpp
@@ -286,7 +286,7 @@ double CANTalon::GetP()
 	if(status != CTR_OKAY) {
 		wpi_setErrorWithContext(status, getHALErrorMessage(status));
   }
-  usleep(1000); /* small yield for getting response */
+  usleep(kDelayForSolicitedSignalsUs); /* small yield for getting response */
   double p;
   status = m_impl->GetPgain(m_profile, p);
 	if(status != CTR_OKAY) {
@@ -307,7 +307,7 @@ double CANTalon::GetI()
 	if(status != CTR_OKAY) {
 		wpi_setErrorWithContext(status, getHALErrorMessage(status));
   }
-	usleep(1000); /* small yield for getting response */
+	usleep(kDelayForSolicitedSignalsUs); /* small yield for getting response */
 
   double i;
   status = m_impl->GetIgain(m_profile, i);
@@ -329,7 +329,7 @@ double CANTalon::GetD()
 	if(status != CTR_OKAY) {
 		wpi_setErrorWithContext(status, getHALErrorMessage(status));
   }
-	usleep(1000); /* small yield for getting response */
+	usleep(kDelayForSolicitedSignalsUs); /* small yield for getting response */
 
   double d;
   status = m_impl->GetDgain(m_profile, d);
@@ -351,7 +351,7 @@ double CANTalon::GetF()
 		wpi_setErrorWithContext(status, getHALErrorMessage(status));
   }
 
-	usleep(1000);  /* small yield for getting response */
+	usleep(kDelayForSolicitedSignalsUs);  /* small yield for getting response */
   double f;
   status = m_impl->GetFgain(m_profile, f);
 	if(status != CTR_OKAY) {
@@ -370,7 +370,7 @@ int CANTalon::GetIzone()
 	if(status != CTR_OKAY) {
 		wpi_setErrorWithContext(status, getHALErrorMessage(status));
  }
-	usleep(1000);
+	usleep(kDelayForSolicitedSignalsUs);
 
  int iz;
  status = m_impl->GetIzone(m_profile, iz);
@@ -865,7 +865,7 @@ uint32_t CANTalon::GetFirmwareVersion()
 	if(status != CTR_OKAY) {
 		wpi_setErrorWithContext(status, getHALErrorMessage(status));
 	}
-	usleep(1000);
+	usleep(kDelayForSolicitedSignalsUs);
 	status = m_impl->GetParamResponseInt32(CanTalonSRX::eFirmVers,firmwareVersion);
 	if(status != CTR_OKAY) {
 		wpi_setErrorWithContext(status, getHALErrorMessage(status));
@@ -888,7 +888,7 @@ int CANTalon::GetIaccum()
 	if(status != CTR_OKAY) {
 		wpi_setErrorWithContext(status, getHALErrorMessage(status));
 	}
-	usleep(1000); /* small yield for getting response */
+	usleep(kDelayForSolicitedSignalsUs); /* small yield for getting response */
 	int iaccum;
 	status = m_impl->GetParamResponseInt32(CanTalonSRX::ePidIaccum,iaccum);
 	if(status != CTR_OKAY) {
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java
index a37e6e4f80..67651b94cb 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java
@@ -21,7 +21,6 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
 		PercentVbus(0), Follower(5), Voltage(4), Position(1), Speed(2), Current(3), Disabled(15);
 
     public int value;
-
     public static ControlMode valueOf(int value) {
 			for(ControlMode mode : values()) {
 				if(mode.value == value) {
@@ -59,6 +58,7 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
 
   private CanTalonSRX m_impl;
   ControlMode m_controlMode;
+  private static double kDelayForSolicitedSignals = 0.004;
 
   int m_deviceNumber;
   boolean m_controlEnabled;
@@ -86,6 +86,16 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
     setProfile(m_profile);
     changeControlMode(ControlMode.PercentVbus);
   }
+  public CANTalon(int deviceNumber,int controlPeriodMs) {
+    m_deviceNumber = deviceNumber;
+    m_impl = new CanTalonSRX(deviceNumber,controlPeriodMs); /* bound period to be within [1 ms,95 ms] */
+    m_safetyHelper = new MotorSafetyHelper(this);
+    m_controlEnabled = true;
+    m_profile = 0;
+    m_setPoint = 0;
+    setProfile(m_profile);
+    changeControlMode(ControlMode.PercentVbus);
+  }
 
   @Override
   public void pidWrite(double output)
@@ -375,7 +385,7 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
       m_impl.RequestParam(CanTalonSRX.param_t.eProfileParamSlot1_P);
 
     // Briefly wait for new values from the Talon.
-    Timer.delay(0.001);
+    Timer.delay(kDelayForSolicitedSignals);
 
     long pp = CanTalonJNI.new_doublep();
     m_impl.GetPgain(m_profile, new SWIGTYPE_p_double(pp, true));
@@ -394,7 +404,7 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
       m_impl.RequestParam(CanTalonSRX.param_t.eProfileParamSlot1_I);
 
     // Briefly wait for new values from the Talon.
-    Timer.delay(0.001);
+    Timer.delay(kDelayForSolicitedSignals);
 
     long ip = CanTalonJNI.new_doublep();
     m_impl.GetIgain(m_profile, new SWIGTYPE_p_double(ip, true));
@@ -413,7 +423,7 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
       m_impl.RequestParam(CanTalonSRX.param_t.eProfileParamSlot1_D);
 
     // Briefly wait for new values from the Talon.
-    Timer.delay(0.001);
+    Timer.delay(kDelayForSolicitedSignals);
 
     long dp = CanTalonJNI.new_doublep();
     m_impl.GetDgain(m_profile, new SWIGTYPE_p_double(dp, true));
@@ -432,7 +442,7 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
       m_impl.RequestParam(CanTalonSRX.param_t.eProfileParamSlot1_F);
 
     // Briefly wait for new values from the Talon.
-    Timer.delay(0.001);
+    Timer.delay(kDelayForSolicitedSignals);
 
     long fp = CanTalonJNI.new_doublep();
     m_impl.GetFgain(m_profile, new SWIGTYPE_p_double(fp, true));
@@ -451,7 +461,7 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
       m_impl.RequestParam(CanTalonSRX.param_t.eProfileParamSlot1_IZone);
 
     // Briefly wait for new values from the Talon.
-    Timer.delay(0.001);
+    Timer.delay(kDelayForSolicitedSignals);
 
     long fp = CanTalonJNI.new_intp();
     m_impl.GetIzone(m_profile, new SWIGTYPE_p_int(fp, true));
@@ -478,7 +488,7 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
       m_impl.RequestParam(CanTalonSRX.param_t.eProfileParamSlot1_CloseLoopRampRate);
 
     // Briefly wait for new values from the Talon.
-    Timer.delay(0.001);
+    Timer.delay(kDelayForSolicitedSignals);
 
     long fp = CanTalonJNI.new_intp();
     m_impl.GetCloseLoopRampRate(m_profile, new SWIGTYPE_p_int(fp, true));
@@ -494,7 +504,7 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
     m_impl.RequestParam(CanTalonSRX.param_t.eFirmVers);
 
     // Briefly wait for new values from the Talon.
-    Timer.delay(0.001);
+    Timer.delay(kDelayForSolicitedSignals);
 
     long fp = CanTalonJNI.new_intp();
     m_impl.GetParamResponseInt32(CanTalonSRX.param_t.eFirmVers, new SWIGTYPE_p_int(fp, true));
@@ -506,7 +516,7 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
     m_impl.RequestParam(CanTalonSRX.param_t.ePidIaccum);
 
     // Briefly wait for new values from the Talon.
-    Timer.delay(0.001);
+    Timer.delay(kDelayForSolicitedSignals);
 
     long fp = CanTalonJNI.new_intp();
     m_impl.GetParamResponseInt32(CanTalonSRX.param_t.ePidIaccum, new SWIGTYPE_p_int(fp, true));