diff --git a/wpilibc/simulation/include/IterativeRobot.h b/wpilibc/simulation/include/IterativeRobot.h
new file mode 100644
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+++ b/wpilibc/simulation/include/IterativeRobot.h
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+/*----------------------------------------------------------------------------*/
+/* 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.  */
+/*----------------------------------------------------------------------------*/
+#pragma once
+
+#include "Timer.h"
+#include "RobotBase.h"
+
+/**
+ * IterativeRobot implements a specific type of Robot Program framework, extending the RobotBase class.
+ *
+ * The IterativeRobot class is intended to be subclassed by a user creating a robot program.
+ *
+ * This class is intended to implement the "old style" default code, by providing
+ * the following functions which are called by the main loop, StartCompetition(), at the appropriate times:
+ *
+ * RobotInit() -- provide for initialization at robot power-on
+ *
+ * Init() functions -- each of the following functions is called once when the
+ *                     appropriate mode is entered:
+ *  - DisabledInit()   -- called only when first disabled
+ *  - AutonomousInit() -- called each and every time autonomous is entered from another mode
+ *  - TeleopInit()     -- called each and every time teleop is entered from another mode
+ *  - TestInit()       -- called each and every time test is entered from another mode
+ *
+ * Periodic() functions -- each of these functions is called iteratively at the
+ *                         appropriate periodic rate (aka the "slow loop").  The default period of
+ *                         the iterative robot is synced to the driver station control packets,
+ *                         giving a periodic frequency of about 50Hz (50 times per second).
+ *   - DisabledPeriodic()
+ *   - AutonomousPeriodic()
+ *   - TeleopPeriodic()
+ *   - TestPeriodic()
+ *
+ */
+
+class IterativeRobot : public RobotBase
+{
+public:
+	/*
+	 * The default period for the periodic function calls (seconds)
+	 * Setting the period to 0.0 will cause the periodic functions to follow
+	 * the Driver Station packet rate of about 50Hz.
+	 */
+	static const double kDefaultPeriod;
+
+	virtual void StartCompetition();
+
+	virtual void RobotInit();
+	virtual void DisabledInit();
+	virtual void AutonomousInit();
+	virtual void TeleopInit();
+	virtual void TestInit();
+
+	virtual void DisabledPeriodic();
+	virtual void AutonomousPeriodic();
+	virtual void TeleopPeriodic();
+	virtual void TestPeriodic();
+
+	void SetPeriod(double period);
+	double GetPeriod();
+	double GetLoopsPerSec();
+
+protected:
+	virtual ~IterativeRobot() = default;
+	IterativeRobot() = default;
+
+private:
+	bool NextPeriodReady();
+
+	bool m_disabledInitialized = false;
+	bool m_autonomousInitialized = false;
+	bool m_teleopInitialized = false;
+	bool m_testInitialized = false;
+	double m_period = kDefaultPeriod;
+	Timer m_mainLoopTimer;
+};