diff --git a/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp b/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
index d96bef96f7..b20409b517 100644
--- a/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
+++ b/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
@@ -100,6 +100,10 @@ void IterativeRobotBase::SetNetworkTablesFlushEnabled(bool enabled) {
   m_ntFlushEnabled = enabled;
 }
 
+units::second_t IterativeRobotBase::GetPeriod() const {
+  return m_period;
+}
+
 void IterativeRobotBase::LoopFunc() {
   m_watchdog.Reset();
 
diff --git a/wpilibc/src/main/native/cpp/TimedRobot.cpp b/wpilibc/src/main/native/cpp/TimedRobot.cpp
index 0326859411..d4ddc6c656 100644
--- a/wpilibc/src/main/native/cpp/TimedRobot.cpp
+++ b/wpilibc/src/main/native/cpp/TimedRobot.cpp
@@ -69,10 +69,6 @@ void TimedRobot::EndCompetition() {
   HAL_StopNotifier(m_notifier, &status);
 }
 
-units::second_t TimedRobot::GetPeriod() const {
-  return units::second_t(m_period);
-}
-
 TimedRobot::TimedRobot(double period) : TimedRobot(units::second_t(period)) {}
 
 TimedRobot::TimedRobot(units::second_t period) : IterativeRobotBase(period) {
diff --git a/wpilibc/src/main/native/include/frc/IterativeRobotBase.h b/wpilibc/src/main/native/include/frc/IterativeRobotBase.h
index 7d04868da7..beb7f4cbe1 100644
--- a/wpilibc/src/main/native/include/frc/IterativeRobotBase.h
+++ b/wpilibc/src/main/native/include/frc/IterativeRobotBase.h
@@ -160,6 +160,11 @@ class IterativeRobotBase : public RobotBase {
    */
   void SetNetworkTablesFlushEnabled(bool enabled);
 
+  /**
+   * Gets time period between calls to Periodic() functions.
+   */
+  units::second_t GetPeriod() const;
+
   /**
    * Constructor for IterativeRobotBase.
    *
@@ -186,12 +191,11 @@ class IterativeRobotBase : public RobotBase {
 
   void LoopFunc();
 
-  units::second_t m_period;
-
  private:
   enum class Mode { kNone, kDisabled, kAutonomous, kTeleop, kTest };
 
   Mode m_lastMode = Mode::kNone;
+  units::second_t m_period;
   Watchdog m_watchdog;
   bool m_ntFlushEnabled = false;
 
diff --git a/wpilibc/src/main/native/include/frc/TimedRobot.h b/wpilibc/src/main/native/include/frc/TimedRobot.h
index 56221e765d..18038eaa79 100644
--- a/wpilibc/src/main/native/include/frc/TimedRobot.h
+++ b/wpilibc/src/main/native/include/frc/TimedRobot.h
@@ -42,11 +42,6 @@ class TimedRobot : public IterativeRobotBase {
    */
   void EndCompetition() override;
 
-  /**
-   * Get the time period between calls to Periodic() functions.
-   */
-  units::second_t GetPeriod() const;
-
   /**
    * Constructor for TimedRobot.
    *
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java
index 1fc3d964a2..ca15194632 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java
@@ -32,8 +32,6 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
  * disabledPeriodic() - autonomousPeriodic() - teleopPeriodic() - testPeriodic()
  */
 public abstract class IterativeRobotBase extends RobotBase {
-  protected double m_period;
-
   private enum Mode {
     kNone,
     kDisabled,
@@ -43,6 +41,7 @@ public abstract class IterativeRobotBase extends RobotBase {
   }
 
   private Mode m_lastMode = Mode.kNone;
+  private final double m_period;
   private final Watchdog m_watchdog;
   private boolean m_ntFlushEnabled;
 
@@ -204,6 +203,11 @@ public abstract class IterativeRobotBase extends RobotBase {
     m_ntFlushEnabled = enabled;
   }
 
+  /** Gets time period between calls to Periodic() functions. */
+  public double getPeriod() {
+    return m_period;
+  }
+
   @SuppressWarnings("PMD.CyclomaticComplexity")
   protected void loopFunc() {
     m_watchdog.reset();
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java
index 655758b3de..561fbdc040 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java
@@ -137,11 +137,6 @@ public class TimedRobot extends IterativeRobotBase {
     NotifierJNI.stopNotifier(m_notifier);
   }
 
-  /** Get time period between calls to Periodic() functions. */
-  public double getPeriod() {
-    return m_period;
-  }
-
   /**
    * Add a callback to run at a specific period.
    *