In real control/ tracking tasks the rate is very important, and keeping it consistent matters. So in all cases your wait time at the end of a loop looks much more like
wait(goal wait time - time loop took)
than just wait(10)
PROS of course provides a nifty delay_until function that does this all itself.
https://pros.cs.purdue.edu/v5/api/cpp/rtos.html#delay-until