diff --git a/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp
index 6541648966..7c73600509 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp
@@ -19,6 +19,16 @@ void Robot::RobotInit() {
   frc::SmartDashboard::PutData("Auto Modes", &m_chooser);
 }
 
+/**
+ * This function is called every robot packet, no matter the mode. Use
+ * this for items like diagnostics that you want ran during disabled,
+ * autonomous, teleoperated and test.
+ *
+ * <p> This runs after the mode specific periodic functions, but before
+ * LiveWindow and SmartDashboard integrated updating.
+ */
+void Robot::RobotPeriodic() {}
+
 /**
  * This function is called once each time the robot enters Disabled mode. You
  * can use it to reset any subsystem information you want to clear when the
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbased/include/Robot.h b/wpilibcExamples/src/main/cpp/templates/commandbased/include/Robot.h
index ee87a84933..1a246cf6f8 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandbased/include/Robot.h
+++ b/wpilibcExamples/src/main/cpp/templates/commandbased/include/Robot.h
@@ -22,6 +22,7 @@ class Robot : public frc::TimedRobot {
   static OI m_oi;
 
   void RobotInit() override;
+  void RobotPeriodic() override;
   void DisabledInit() override;
   void DisabledPeriodic() override;
   void AutonomousInit() override;
diff --git a/wpilibcExamples/src/main/cpp/templates/iterative/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/templates/iterative/cpp/Robot.cpp
index d1450a4c82..22731e64c1 100644
--- a/wpilibcExamples/src/main/cpp/templates/iterative/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/iterative/cpp/Robot.cpp
@@ -17,6 +17,16 @@ void Robot::RobotInit() {
   frc::SmartDashboard::PutData("Auto Modes", &m_chooser);
 }
 
+/**
+ * This function is called every robot packet, no matter the mode. Use
+ * this for items like diagnostics that you want ran during disabled,
+ * autonomous, teleoperated and test.
+ *
+ * <p> This runs after the mode specific periodic functions, but before
+ * LiveWindow and SmartDashboard integrated updating.
+ */
+void Robot::RobotPeriodic() {}
+
 /**
  * This autonomous (along with the chooser code above) shows how to select
  * between different autonomous modes using the dashboard. The sendable chooser
diff --git a/wpilibcExamples/src/main/cpp/templates/iterative/include/Robot.h b/wpilibcExamples/src/main/cpp/templates/iterative/include/Robot.h
index 6d6302e168..05e233c526 100644
--- a/wpilibcExamples/src/main/cpp/templates/iterative/include/Robot.h
+++ b/wpilibcExamples/src/main/cpp/templates/iterative/include/Robot.h
@@ -15,6 +15,7 @@
 class Robot : public frc::IterativeRobot {
  public:
   void RobotInit() override;
+  void RobotPeriodic() override;
   void AutonomousInit() override;
   void AutonomousPeriodic() override;
   void TeleopInit() override;
diff --git a/wpilibcExamples/src/main/cpp/templates/timed/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/templates/timed/cpp/Robot.cpp
index 9544e613fc..ff6f86a3fd 100644
--- a/wpilibcExamples/src/main/cpp/templates/timed/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/timed/cpp/Robot.cpp
@@ -17,6 +17,16 @@ void Robot::RobotInit() {
   frc::SmartDashboard::PutData("Auto Modes", &m_chooser);
 }
 
+/**
+ * This function is called every robot packet, no matter the mode. Use
+ * this for items like diagnostics that you want ran during disabled,
+ * autonomous, teleoperated and test.
+ *
+ * <p> This runs after the mode specific periodic functions, but before
+ * LiveWindow and SmartDashboard integrated updating.
+ */
+void Robot::RobotPeriodic() {}
+
 /**
  * This autonomous (along with the chooser code above) shows how to select
  * between different autonomous modes using the dashboard. The sendable chooser
diff --git a/wpilibcExamples/src/main/cpp/templates/timed/include/Robot.h b/wpilibcExamples/src/main/cpp/templates/timed/include/Robot.h
index 6d63f312ce..e78d66f121 100644
--- a/wpilibcExamples/src/main/cpp/templates/timed/include/Robot.h
+++ b/wpilibcExamples/src/main/cpp/templates/timed/include/Robot.h
@@ -15,6 +15,7 @@
 class Robot : public frc::TimedRobot {
  public:
   void RobotInit() override;
+  void RobotPeriodic() override;
   void AutonomousInit() override;
   void AutonomousPeriodic() override;
   void TeleopInit() override;
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
index 8116b70286..935074871b 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
@@ -41,6 +41,18 @@ public class Robot extends TimedRobot {
     SmartDashboard.putData("Auto mode", m_chooser);
   }
 
+  /**
+   * This function is called every robot packet, no matter the mode. Use
+   * this for items like diagnostics that you want ran during disabled,
+   * autonomous, teleoperated and test.
+   *
+   * <p>This runs after the mode specific periodic functions, but before
+   * LiveWindow and SmartDashboard integrated updating.
+   */
+  @Override
+  public void robotPeriodic() {
+  }
+
   /**
    * This function is called once each time the robot enters Disabled mode.
    * You can use it to reset any subsystem information you want to clear when
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/iterative/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/iterative/Robot.java
index ece6edbd9f..80a2e17ba9 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/iterative/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/iterative/Robot.java
@@ -35,6 +35,18 @@ public class Robot extends IterativeRobot {
     SmartDashboard.putData("Auto choices", m_chooser);
   }
 
+  /**
+   * This function is called every robot packet, no matter the mode. Use
+   * this for items like diagnostics that you want ran during disabled,
+   * autonomous, teleoperated and test.
+   *
+   * <p>This runs after the mode specific periodic functions, but before
+   * LiveWindow and SmartDashboard integrated updating.
+   */
+  @Override
+  public void robotPeriodic() {
+  }
+
   /**
    * This autonomous (along with the chooser code above) shows how to select
    * between different autonomous modes using the dashboard. The sendable
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timed/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timed/Robot.java
index 7167f7099c..d2109a28fb 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timed/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timed/Robot.java
@@ -35,6 +35,18 @@ public class Robot extends TimedRobot {
     SmartDashboard.putData("Auto choices", m_chooser);
   }
 
+  /**
+   * This function is called every robot packet, no matter the mode. Use
+   * this for items like diagnostics that you want ran during disabled,
+   * autonomous, teleoperated and test.
+   *
+   * <p>This runs after the mode specific periodic functions, but before
+   * LiveWindow and SmartDashboard integrated updating.
+   */
+  @Override
+  public void robotPeriodic() {
+  }
+
   /**
    * This autonomous (along with the chooser code above) shows how to select
    * between different autonomous modes using the dashboard. The sendable