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wpilibc/src/main/native/cpp/opmode/TimesliceRobot.cpp

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "frc/TimesliceRobot.h"
+
+#include "frc/Errors.h"
+
+using namespace frc;
+
+TimesliceRobot::TimesliceRobot(units::second_t robotPeriodicAllocation,
+                               units::second_t controllerPeriod)
+    : m_nextOffset{robotPeriodicAllocation},
+      m_controllerPeriod{controllerPeriod} {}
+
+void TimesliceRobot::Schedule(std::function<void()> func,
+                              units::second_t allocation) {
+  if (m_nextOffset + allocation > m_controllerPeriod) {
+    throw FRC_MakeError(err::Error,
+                        "Function scheduled at offset {} with allocation {} "
+                        "exceeded controller period of {}\n",
+                        m_nextOffset, allocation, m_controllerPeriod);
+  }
+
+  AddPeriodic(func, m_controllerPeriod, m_nextOffset);
+  m_nextOffset += allocation;
+}