Add thread code and example

TeamCode/threaded/TaskThread.java

@@ -0,0 +1,78 @@
+package org.firstinspires.ftc.teamcode.threadopmode;
+
+public class TaskThread {
+
+    Actions actions;
+    int delay;
+    TaskRunnable taskRunnable;
+
+    /** Creates an object that contains code to be ran periodically on a separate thread
+     * Can be registered to a {@link ThreadOpMode} with {@link ThreadOpMode#registerThread(TaskThread)}
+     *
+     * @param actions An {@link Actions} interface that contains code to run periodically
+     *                The default delay between runs is 0 milliseconds
+     */
+    public TaskThread(Actions actions) {
+        this(0, actions);
+    }
+
+    /** Creates an object that contains code to be ran periodically on a separate thread.
+     * Can be registered to a {@link ThreadOpMode} with {@link ThreadOpMode#registerThread(TaskThread)}.
+     *
+     * @param delay The delay in milliseconds between each periodic run of the code.
+     * @param actions An {@link Actions} interface that contains code to run periodically.
+     */
+    public TaskThread(int delay, Actions actions) {
+        this.actions = actions;
+        this.delay = delay;
+        this.taskRunnable = new TaskRunnable();
+    }
+
+    /**
+     * An interface to be passed to a {@link TaskThread} constructor.
+     */
+    public interface Actions {
+        /**
+         * Robot code to be ran periodically on its own thread.
+         */
+        public void loop();
+    }
+
+    void start() {
+        taskRunnable.start();
+    }
+
+    void stop() {
+        taskRunnable.stop();
+    }
+
+    class TaskRunnable implements Runnable {
+        private Thread t;
+
+        TaskRunnable() {
+
+        }
+
+        public void run() {
+            try {
+                while(!t.isInterrupted()) {
+                    actions.loop();
+                    Thread.sleep(delay);
+                }
+            } catch (InterruptedException e) {
+
+            }
+        }
+
+        public void start() {
+            if (t == null) {
+                t = new Thread(this);
+                t.start();
+            }
+        }
+
+        public void stop() {
+            t.interrupt();
+        }
+    }
+}