Use Timer for startup delay, advanceIfElapsed
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The timer-based startup delay simplifies startup code. Also, `advanceIfElapsed` is I think technically more reliable than `hasElapsed` and `reset` because it only resets the duration, not entirely (so it's not off by a few milliseconds depending on how long periodic takes to run). It's not necessary but I think it's cleaner.
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looks good to me, assuming |
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I also left comments on some old commits; unsure if those are very visible. |
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lmk if this code makes sense to you or if it looks like it'll break. Also I think calling
stop()in the constructor instead of the first periodic loop causes the same behavior because periodic is still being called even while the robot is enabled.