From c3c7baa15c44eadb7989f2e78207ba70c1ef66dd Mon Sep 17 00:00:00 2001
From: Brad Miller <brad@bradhouse.com>
Date: Tue, 11 Nov 2014 14:49:05 -0500
Subject: [PATCH] Removed the timing option from Iterative Robot Template since
 it conflicted with its purpose (artf3751)

---
 .../wpilibC++Devices/include/IterativeRobot.h |  8 --
 .../wpilibC++Devices/src/IterativeRobot.cpp   | 95 ++-----------------
 2 files changed, 8 insertions(+), 95 deletions(-)

diff --git a/wpilibc/wpilibC++Devices/include/IterativeRobot.h b/wpilibc/wpilibC++Devices/include/IterativeRobot.h
index b99a0e44b1..2d82fc14b5 100644
--- a/wpilibc/wpilibC++Devices/include/IterativeRobot.h
+++ b/wpilibc/wpilibC++Devices/include/IterativeRobot.h
@@ -59,21 +59,13 @@ public:
 	virtual void TeleopPeriodic();
 	virtual void TestPeriodic();
 
-	void SetPeriod(double period);
-	double GetPeriod();
-	double GetLoopsPerSec();
-
 protected:
 	virtual ~IterativeRobot();
 	IterativeRobot();
 
 private:
-	bool NextPeriodReady();
-
 	bool m_disabledInitialized;
 	bool m_autonomousInitialized;
 	bool m_teleopInitialized;
 	bool m_testInitialized;
-	double m_period;
-	Timer m_mainLoopTimer;
 };
diff --git a/wpilibc/wpilibC++Devices/src/IterativeRobot.cpp b/wpilibc/wpilibC++Devices/src/IterativeRobot.cpp
index 699a874cb9..a24db9e333 100644
--- a/wpilibc/wpilibC++Devices/src/IterativeRobot.cpp
+++ b/wpilibc/wpilibC++Devices/src/IterativeRobot.cpp
@@ -26,7 +26,6 @@ IterativeRobot::IterativeRobot()
 	, m_autonomousInitialized (false)
 	, m_teleopInitialized (false)
 	, m_testInitialized (false)
-	, m_period (kDefaultPeriod)
 {
 }
 
@@ -37,50 +36,6 @@ IterativeRobot::~IterativeRobot()
 {
 }
 
-/**
- * Set the period for the periodic functions.
- * 
- * @param period The period of the periodic function calls.  0.0 means sync to driver station control data.
- */
-void IterativeRobot::SetPeriod(double period)
-{
-	if (period > 0.0)
-	{
-		// Not syncing with the DS, so start the timer for the main loop
-		m_mainLoopTimer.Reset();
-		m_mainLoopTimer.Start();
-	}
-	else
-	{
-		// Syncing with the DS, don't need the timer
-		m_mainLoopTimer.Stop();
-	}
-	m_period = period;
-}
-
-/**
- * Get the period for the periodic functions.
- * Returns 0.0 if configured to syncronize with DS control data packets.
- * @return Period of the periodic function calls
- */
-double IterativeRobot::GetPeriod()
-{
-	return m_period;
-}
-
-/**
- * Get the number of loops per second for the IterativeRobot
- * @return Frequency of the periodic function calls
- */
-double IterativeRobot::GetLoopsPerSec()
-{
-	// If syncing to the driver station, we don't know the rate,
-	//   so guess something close.
-	if (m_period <= 0.0)
-		return 50.0;
-	return 1.0 / m_period;
-}
-
 /**
  * Provide an alternate "main loop" via StartCompetition().
  * 
@@ -118,11 +73,8 @@ void IterativeRobot::StartCompetition()
                 m_teleopInitialized = false;
                 m_testInitialized = false;
 			}
-			if (NextPeriodReady())
-			{
-				HALNetworkCommunicationObserveUserProgramDisabled();
-				DisabledPeriodic();
-			}
+			HALNetworkCommunicationObserveUserProgramDisabled();
+			DisabledPeriodic();
 		}
 		else if (IsAutonomous())
 		{
@@ -138,11 +90,8 @@ void IterativeRobot::StartCompetition()
                 m_teleopInitialized = false;
                 m_testInitialized = false;
 			}
-			if (NextPeriodReady())
-			{
-				HALNetworkCommunicationObserveUserProgramAutonomous();
-				AutonomousPeriodic();
-			}
+			HALNetworkCommunicationObserveUserProgramAutonomous();
+			AutonomousPeriodic();
 		}
         else if (IsTest())
         {
@@ -158,11 +107,8 @@ void IterativeRobot::StartCompetition()
                 m_autonomousInitialized = false;
                 m_teleopInitialized = false;
             }
-            if (NextPeriodReady())
-            {
-                HALNetworkCommunicationObserveUserProgramTest();
-                TestPeriodic();
-            }
+            HALNetworkCommunicationObserveUserProgramTest();
+            TestPeriodic();
         }
 		else
 		{
@@ -179,39 +125,14 @@ void IterativeRobot::StartCompetition()
                 m_testInitialized = false;
                 Scheduler::GetInstance()->SetEnabled(true);
 			}
-			if (NextPeriodReady())
-			{
-				HALNetworkCommunicationObserveUserProgramTeleop();
-				TeleopPeriodic();
-			}
+			HALNetworkCommunicationObserveUserProgramTeleop();
+			TeleopPeriodic();
 		}
 		// wait for driver station data so the loop doesn't hog the CPU
 		m_ds->WaitForData();
 	}	
 }
 
-/**
- * Determine if the periodic functions should be called.
- *
- * If m_period > 0.0, call the periodic function every m_period as compared
- * to Timer.Get().  If m_period == 0.0, call the periodic functions whenever
- * a packet is received from the Driver Station, or about every 20ms.
- *
- * @todo Decide what this should do if it slips more than one cycle.
- */
-
-bool IterativeRobot::NextPeriodReady()
-{
-	if (m_period > 0.0)
-	{
-		return m_mainLoopTimer.HasPeriodPassed(m_period);
-	}
-	else
-	{
-		return m_ds->IsNewControlData();
-	}
-}
-
 /**
  * Robot-wide initialization code should go here.
  *