Add thread code and example

TeamCode/threaded/ThreadOpMode.java

@@ -0,0 +1,69 @@
+package org.firstinspires.ftc.teamcode.threadopmode;
+
+import com.qualcomm.robotcore.eventloop.opmode.OpMode;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * A type of {@link OpMode} that contains threads to be ran in parallel periodically.
+ * Register threads with {@link ThreadOpMode#registerThread(TaskThread)}
+ */
+public abstract class ThreadOpMode extends OpMode {
+    private List<TaskThread> threads = new ArrayList<>();
+
+    /**
+     * Registers a new {@link TaskThread} to be ran periodically.
+     * Registered threads will automatically be started during {@link OpMode#start()} and stopped during {@link OpMode#stop()}.
+     *
+     * @param taskThread A {@link TaskThread} object to be ran periodically.
+     */
+    public final void registerThread(TaskThread taskThread) {
+        threads.add(taskThread);
+    }
+
+    /**
+     * Contains code to be ran before the OpMode is started. Similar to {@link OpMode#init()}.
+     */
+    public abstract void mainInit();
+    /**
+     * Contains code to be ran periodically in the MAIN thread. Similar to {@link OpMode#loop()}.
+     */
+    public abstract void mainLoop();
+
+    /**
+     * Should not be called by subclass.
+     */
+    @Override
+    public final void init() {
+        mainInit();
+    }
+
+    /**
+     * Should not be called by subclass.
+     */
+    @Override
+    public final void start() {
+        for(TaskThread taskThread : threads) {
+            taskThread.start();
+        }
+    }
+
+    /**
+     * Should not be called by subclass.
+     */
+    @Override
+    public final void loop() {
+        mainLoop();
+    }
+
+    /**
+     * Should not be called by subclass.
+     */
+    @Override
+    public final void stop() {
+        for(TaskThread taskThread : threads) {
+            taskThread.stop();
+        }
+    }
+}