A Stop Condition Is an Engineering Contract

Repeated robot software needs an explicit reason to continue and an explicit reason to stop.

A bad loop can fail because its controlling state never changes. A scheduler can continue because its framework contract says it should. A ROS node can remain alive waiting for callbacks.

Do not use the same word, "loop," as proof that these are equivalent.

Checkpoint

Take one faulty local repetition case. Identify:

• controlling state;
• stop condition;
• missing or wrong state change;
• observed failure;
• minimum correction.

Then name the different evidence you would need for a WPILib scheduler or ROS runtime claim.