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();
+        }
+    }
+}

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();
+        }
+    }
+}

TeamCode/threaded/example/ThreadedOpMode.java

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+import org.firstinspires.ftc.teamcode.threadopmode.*;
+import com.qualcomm.robotcore.hardware.DcMotor;
+
+
+//Extend ThreadOpMode rather than OpMode
+public class ThreadedOpMode extends ThreadOpMode {
+
+    //Define global variables
+    private DcMotor dcMotor;
+
+    @Override
+    public void mainInit() {
+        //Perform your normal init
+        dcMotor = hardwareMap.dcMotor.get("dcMotor");
+
+        //Below is a new thread
+        registerThread(new TaskThread(new TaskThread.Actions() {
+            @Override
+            public void loop() {
+                //The loop method should contain what to constantly run in the thread
+                //For instance, this drives a single DcMotor
+                dcMotor.setPower(gamepad1.left_stick_y);
+            }
+        }));
+    }
+
+    @Override
+    public void mainLoop() {
+        //Anything you want to constantly run in the MAIN thread goes here
+    }
+}