diff --git a/wpilibc/athena/include/IterativeRobot.h b/wpilibc/athena/include/IterativeRobot.h
index 634e258ad9..421a466c0e 100644
--- a/wpilibc/athena/include/IterativeRobot.h
+++ b/wpilibc/athena/include/IterativeRobot.h
@@ -62,6 +62,7 @@ class IterativeRobot : public RobotBase {
   virtual void TeleopInit();
   virtual void TestInit();
 
+  virtual void RobotPeriodic();
   virtual void DisabledPeriodic();
   virtual void AutonomousPeriodic();
   virtual void TeleopPeriodic();
diff --git a/wpilibc/athena/src/IterativeRobot.cpp b/wpilibc/athena/src/IterativeRobot.cpp
index 54d5d976f4..6ec24c36c9 100644
--- a/wpilibc/athena/src/IterativeRobot.cpp
+++ b/wpilibc/athena/src/IterativeRobot.cpp
@@ -98,6 +98,7 @@ void IterativeRobot::StartCompetition() {
       HAL_ObserveUserProgramTeleop();
       TeleopPeriodic();
     }
+    RobotPeriodic();
     // wait for driver station data so the loop doesn't hog the CPU
     m_ds.WaitForData();
   }
@@ -160,6 +161,20 @@ void IterativeRobot::TestInit() {
   std::printf("Default %s() method... Overload me!\n", __FUNCTION__);
 }
 
+/**
+ * Periodic code for all modes should go here.
+ *
+ * Users should override this method for code which will be called periodically
+ * at a regular rate while the robot is in any mode.
+ */
+void IterativeRobot::RobotPeriodic() {
+  static bool firstRun = true;
+  if (firstRun) {
+    std::printf("Default %s() method... Overload me!\n", __FUNCTION__);
+    firstRun = false;
+  }
+}
+
 /**
  * Periodic code for disabled mode should go here.
  *
diff --git a/wpilibc/sim/include/IterativeRobot.h b/wpilibc/sim/include/IterativeRobot.h
index 0d8ef1c783..a3503c28a7 100644
--- a/wpilibc/sim/include/IterativeRobot.h
+++ b/wpilibc/sim/include/IterativeRobot.h
@@ -62,6 +62,7 @@ class IterativeRobot : public RobotBase {
   virtual void TeleopInit();
   virtual void TestInit();
 
+  virtual void RobotPeriodic();
   virtual void DisabledPeriodic();
   virtual void AutonomousPeriodic();
   virtual void TeleopPeriodic();
diff --git a/wpilibc/sim/src/IterativeRobot.cpp b/wpilibc/sim/src/IterativeRobot.cpp
index 44fac4711d..062a711e8d 100644
--- a/wpilibc/sim/src/IterativeRobot.cpp
+++ b/wpilibc/sim/src/IterativeRobot.cpp
@@ -220,6 +220,20 @@ void IterativeRobot::TestInit() {
   std::printf("Default %s() method... Overload me!\n", __FUNCTION__);
 }
 
+/**
+ * Periodic code for all modes should go here.
+ *
+ * Users should override this method for code which will be called periodically
+ * at a regular rate while the robot is in any mode.
+ */
+void IterativeRobot::RobotPeriodic() {
+  static bool firstRun = true;
+  if (firstRun) {
+    std::printf("Default %s() method... Overload me!\n", __FUNCTION__);
+    firstRun = false;
+  }
+}
+
 /**
  * Periodic code for disabled mode should go here.
  *
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/IterativeRobot.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/IterativeRobot.java
index c461e821f8..ef797bcf03 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/IterativeRobot.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/IterativeRobot.java
@@ -135,6 +135,7 @@ public class IterativeRobot extends RobotBase {
           teleopPeriodic();
         }
       }
+      robotPeriodic();
       m_ds.waitForData();
     }
   }
@@ -204,6 +205,22 @@ public class IterativeRobot extends RobotBase {
   }
 
   /* ----------- Overridable periodic code ----------------- */
+  
+  private boolean m_rpFirstRun = true;
+
+  /**
+   * Periodic code for all robot modes should go here.
+   *
+   * <p>Users should override this method for code which will be called periodically at a regular
+   * rate while the robot is in any mode.
+   */
+  public void robotPeriodic() {
+    if (m_rpFirstRun) {
+      System.out.println("Default IterativeRobot.robotPeriodic() method... Overload me!");
+      m_rpFirstRun = false;
+    }
+    Timer.delay(0.001);
+  }
 
   private boolean m_dpFirstRun = true;
 
diff --git a/wpilibj/src/sim/java/edu/wpi/first/wpilibj/IterativeRobot.java b/wpilibj/src/sim/java/edu/wpi/first/wpilibj/IterativeRobot.java
index aae27f5010..740096c40d 100644
--- a/wpilibj/src/sim/java/edu/wpi/first/wpilibj/IterativeRobot.java
+++ b/wpilibj/src/sim/java/edu/wpi/first/wpilibj/IterativeRobot.java
@@ -144,6 +144,7 @@ public class IterativeRobot extends RobotBase {
           didTeleopPeriodic = true;
         }
       }
+      robotPeriodic();
       m_ds.waitForData();
     }
   }
@@ -209,6 +210,22 @@ public class IterativeRobot extends RobotBase {
   }
 
     /* ----------- Overridable periodic code -----------------*/
+    
+  private boolean m_rpFirstRun = true;
+
+  /**
+   * Periodic code for all robot modes should go here.
+   *
+   * <p>Users should override this method for code which will be called periodically at a regular
+   * rate while the robot is in any mode.
+   */
+  public void robotPeriodic() {
+    if (m_rpFirstRun) {
+      System.out.println("Default IterativeRobot.robotPeriodic() method... Overload me!");
+      m_rpFirstRun = false;
+    }
+    Timer.delay(0.001);
+  }
 
   private boolean dpFirstRun = true;