Rename our allwpilib (which is now 2020) to not have 2019 in the name
Change-Id: I3c07f85ed32ab8b97db765a9b43f2a6ce7da964a
diff --git a/wpilibc/src/main/native/cpp/IterativeRobot.cpp b/wpilibc/src/main/native/cpp/IterativeRobot.cpp
new file mode 100644
index 0000000..c8664a5
--- /dev/null
+++ b/wpilibc/src/main/native/cpp/IterativeRobot.cpp
@@ -0,0 +1,43 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2019 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/IterativeRobot.h"
+
+#include <hal/DriverStation.h>
+#include <hal/FRCUsageReporting.h>
+
+#include "frc/DriverStation.h"
+
+using namespace frc;
+
+static constexpr auto kPacketPeriod = 0.02_s;
+
+IterativeRobot::IterativeRobot() : IterativeRobotBase(kPacketPeriod) {
+ HAL_Report(HALUsageReporting::kResourceType_Framework,
+ HALUsageReporting::kFramework_Iterative);
+}
+
+void IterativeRobot::StartCompetition() {
+ RobotInit();
+
+ // Tell the DS that the robot is ready to be enabled
+ HAL_ObserveUserProgramStarting();
+
+ // Loop forever, calling the appropriate mode-dependent function
+ while (true) {
+ // Wait for driver station data so the loop doesn't hog the CPU
+ DriverStation::GetInstance().WaitForData();
+ if (m_exit) break;
+
+ LoopFunc();
+ }
+}
+
+void IterativeRobot::EndCompetition() {
+ m_exit = true;
+ DriverStation::GetInstance().WakeupWaitForData();
+}