diff --git a/wpilibc/Athena/src/IterativeRobot.cpp b/wpilibc/Athena/src/IterativeRobot.cpp
new file mode 100644
index 0000000..fa1d2ba
--- /dev/null
+++ b/wpilibc/Athena/src/IterativeRobot.cpp
@@ -0,0 +1,228 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib.  */
+/*----------------------------------------------------------------------------*/
+
+#include "IterativeRobot.h"
+
+#include "DriverStation.h"
+#include "HAL/HAL.hpp"
+#include "SmartDashboard/SmartDashboard.h"
+#include "LiveWindow/LiveWindow.h"
+#include "networktables/NetworkTable.h"
+
+constexpr double IterativeRobot::kDefaultPeriod;
+
+/**
+ * Provide an alternate "main loop" via StartCompetition().
+ *
+ * This specific StartCompetition() implements "main loop" behaviour synced with
+ * the DS packets
+ */
+void IterativeRobot::StartCompetition() {
+  HALReport(HALUsageReporting::kResourceType_Framework,
+            HALUsageReporting::kFramework_Iterative);
+
+  LiveWindow *lw = LiveWindow::GetInstance();
+  // first and one-time initialization
+  SmartDashboard::init();
+  NetworkTable::GetTable("LiveWindow")
+      ->GetSubTable("~STATUS~")
+      ->PutBoolean("LW Enabled", false);
+  RobotInit();
+
+  // Tell the DS that the robot is ready to be enabled
+  HALNetworkCommunicationObserveUserProgramStarting();
+
+  // loop forever, calling the appropriate mode-dependent function
+  lw->SetEnabled(false);
+  while (true) {
+    // Call the appropriate function depending upon the current robot mode
+    if (IsDisabled()) {
+      // call DisabledInit() if we are now just entering disabled mode from
+      // either a different mode or from power-on
+      if (!m_disabledInitialized) {
+        lw->SetEnabled(false);
+        DisabledInit();
+        m_disabledInitialized = true;
+        // reset the initialization flags for the other modes
+        m_autonomousInitialized = false;
+        m_teleopInitialized = false;
+        m_testInitialized = false;
+      }
+      HALNetworkCommunicationObserveUserProgramDisabled();
+      DisabledPeriodic();
+    } else if (IsAutonomous()) {
+      // call AutonomousInit() if we are now just entering autonomous mode from
+      // either a different mode or from power-on
+      if (!m_autonomousInitialized) {
+        lw->SetEnabled(false);
+        AutonomousInit();
+        m_autonomousInitialized = true;
+        // reset the initialization flags for the other modes
+        m_disabledInitialized = false;
+        m_teleopInitialized = false;
+        m_testInitialized = false;
+      }
+      HALNetworkCommunicationObserveUserProgramAutonomous();
+      AutonomousPeriodic();
+    } else if (IsTest()) {
+      // call TestInit() if we are now just entering test mode from
+      // either a different mode or from power-on
+      if (!m_testInitialized) {
+        lw->SetEnabled(true);
+        TestInit();
+        m_testInitialized = true;
+        // reset the initialization flags for the other modes
+        m_disabledInitialized = false;
+        m_autonomousInitialized = false;
+        m_teleopInitialized = false;
+      }
+      HALNetworkCommunicationObserveUserProgramTest();
+      TestPeriodic();
+    } else {
+      // call TeleopInit() if we are now just entering teleop mode from
+      // either a different mode or from power-on
+      if (!m_teleopInitialized) {
+        lw->SetEnabled(false);
+        TeleopInit();
+        m_teleopInitialized = true;
+        // reset the initialization flags for the other modes
+        m_disabledInitialized = false;
+        m_autonomousInitialized = false;
+        m_testInitialized = false;
+        Scheduler::GetInstance()->SetEnabled(true);
+      }
+      HALNetworkCommunicationObserveUserProgramTeleop();
+      TeleopPeriodic();
+    }
+    // wait for driver station data so the loop doesn't hog the CPU
+    m_ds.WaitForData();
+  }
+}
+
+/**
+ * Robot-wide initialization code should go here.
+ *
+ * Users should override this method for default Robot-wide initialization which
+ * will be called when the robot is first powered on. It will be called exactly
+ * one time.
+ *
+ * Warning: the Driver Station "Robot Code" light and FMS "Robot Ready"
+ * indicators will be off until RobotInit() exits. Code in RobotInit() that
+ * waits for enable will cause the robot to never indicate that the code is
+ * ready, causing the robot to be bypassed in a match.
+ */
+void IterativeRobot::RobotInit() {
+  printf("Default %s() method... Overload me!\n", __FUNCTION__);
+}
+
+/**
+ * Initialization code for disabled mode should go here.
+ *
+ * Users should override this method for initialization code which will be
+ * called each time
+ * the robot enters disabled mode.
+ */
+void IterativeRobot::DisabledInit() {
+  printf("Default %s() method... Overload me!\n", __FUNCTION__);
+}
+
+/**
+ * Initialization code for autonomous mode should go here.
+ *
+ * Users should override this method for initialization code which will be
+ * called each time
+ * the robot enters autonomous mode.
+ */
+void IterativeRobot::AutonomousInit() {
+  printf("Default %s() method... Overload me!\n", __FUNCTION__);
+}
+
+/**
+ * Initialization code for teleop mode should go here.
+ *
+ * Users should override this method for initialization code which will be
+ * called each time
+ * the robot enters teleop mode.
+ */
+void IterativeRobot::TeleopInit() {
+  printf("Default %s() method... Overload me!\n", __FUNCTION__);
+}
+
+/**
+ * Initialization code for test mode should go here.
+ *
+ * Users should override this method for initialization code which will be
+ * called each time
+ * the robot enters test mode.
+ */
+void IterativeRobot::TestInit() {
+  printf("Default %s() method... Overload me!\n", __FUNCTION__);
+}
+
+/**
+ * Periodic code for disabled mode should go here.
+ *
+ * Users should override this method for code which will be called periodically
+ * at a regular
+ * rate while the robot is in disabled mode.
+ */
+void IterativeRobot::DisabledPeriodic() {
+  static bool firstRun = true;
+  if (firstRun) {
+    printf("Default %s() method... Overload me!\n", __FUNCTION__);
+    firstRun = false;
+  }
+  delayTicks(1);
+}
+
+/**
+ * Periodic code for autonomous mode should go here.
+ *
+ * Users should override this method for code which will be called periodically
+ * at a regular
+ * rate while the robot is in autonomous mode.
+ */
+void IterativeRobot::AutonomousPeriodic() {
+  static bool firstRun = true;
+  if (firstRun) {
+    printf("Default %s() method... Overload me!\n", __FUNCTION__);
+    firstRun = false;
+  }
+  delayTicks(1);
+}
+
+/**
+ * Periodic code for teleop mode should go here.
+ *
+ * Users should override this method for code which will be called periodically
+ * at a regular
+ * rate while the robot is in teleop mode.
+ */
+void IterativeRobot::TeleopPeriodic() {
+  static bool firstRun = true;
+  if (firstRun) {
+    printf("Default %s() method... Overload me!\n", __FUNCTION__);
+    firstRun = false;
+  }
+  delayTicks(1);
+}
+
+/**
+ * Periodic code for test mode should go here.
+ *
+ * Users should override this method for code which will be called periodically
+ * at a regular
+ * rate while the robot is in test mode.
+ */
+void IterativeRobot::TestPeriodic() {
+  static bool firstRun = true;
+  if (firstRun) {
+    printf("Default %s() method... Overload me!\n", __FUNCTION__);
+    firstRun = false;
+  }
+  delayTicks(1);
+}