Added TimedRobot (#520)

wpilibc/athena/include/TimedRobot.h

@@ -0,0 +1,47 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2017. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+
+#include "IterativeRobotBase.h"
+#include "Notifier.h"
+
+namespace frc {
+
+/**
+ * TimedRobot implements the IterativeRobotBase robot program framework.
+ *
+ * The TimedRobot class is intended to be subclassed by a user creating a
+ * robot program.
+ *
+ * Periodic() functions from the base class are called on an interval by a
+ * Notifier instance.
+ */
+class TimedRobot : public IterativeRobotBase {
+ public:
+  static constexpr double kDefaultPeriod = 0.02;
+
+  void StartCompetition() override;
+
+  void SetPeriod(double seconds);
+
+ protected:
+  TimedRobot();
+  virtual ~TimedRobot();
+
+ private:
+  double m_period = kDefaultPeriod;
+
+  // Prevents loop from starting if user calls SetPeriod() in RobotInit()
+  bool m_startLoop = false;
+
+  std::unique_ptr<Notifier> m_loop;
+};
+
+}  // namespace frc