Robert H. Wheaton, 96, of Huddleston, passed away on Monday, April 12, 2021. He was born in Pompey, NY on January 27, 1925 a son of the late Francis Xavier Wheaton and Helen Austin Wheaton. In addition to his parents, he was preceded in death by his wife, Marion Long Wheaton; and a daughter, Amy Wheaton Cardoza. Robert proudly served his country in the United States Navy, serving during WWII. He was retired from General Electric. He is survived by his children, Kathleen A. Wheaton, Thomas M. Wheaton, Eileen W. Haungs (Jim); grandchildren, Brodie M. Williams IV (Dawn), Lisa Kibler Martin (Tim), Brooke N. Williams (Adam), Seth B. Williams, Emily Casdorph (David); great-grandchildren, Nicholas S. and Ellery A. Martin, Cassidy M. Williams, Kennadi M. Liskey, Owen F. and Cora A. Casdorph. A Mass of Resurrection will be celebrated at 11:30 a.m. on Friday, April 16, 2021 at Resurrection Catholic Church, 15353 Moneta Road, Moneta, VA with Father Salvador Añonuevo presiding. Burial will follow in the church cemetery. Family will receive friends one hour prior to the service beginning at 10:30 a.m. In lieu of flowers please consider a donation to Resurrection Catholic Church. Arrangements by Burch-Messier Funeral Home, Bedford, 540-586-7360.