rbrott

// inspired by https://github.com/JDroids/FreightFrenzy/blob/master/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/CyclingWarehouseSideAuto.java

import kotlinx.coroutines.*

typealias TrajectorySequence = String

interface MecanumDrive {
    fun followTrajectorySequenceAsync(ts: TrajectorySequence)
    fun update()
    fun isBusy(): Boolean

rbrott

// inspired by https://github.com/JDroids/FreightFrenzy/blob/master/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/CyclingWarehouseSideAuto.java

fun clock() = 0.0

typealias TrajectorySequence = String

interface MecanumDrive {
    fun followTrajectorySequenceAsync(ts: TrajectorySequence)
    fun update()
    fun isBusy(): Boolean

rbrott

// inspired by https://github.com/JDroids/FreightFrenzy/blob/master/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/CyclingWarehouseSideAuto.java

fun clock() = 0.0

typealias TrajectorySequence = String

interface MecanumDrive {
    fun followTrajectorySequenceAsync(ts: TrajectorySequence)
    fun update()
    fun isBusy(): Boolean

rbrott

Multithreading FTC SDK hardware calls cannot improve call throughput and unpredictably increases call latency.

(Based on FTC SDK v7.1. You decide whether changes in subsequent releases compromise the argument.)

The bulk of time spent in a hardware call is waiting for a Lynx message response in the body of LynxRespondable#send() or LynxRespondable#sendReceive(). Both methods need to acquire the network lock before any data transmission occurs.

rbrott

package org.firstinspires.ftc.teamcode;

import android.content.Context;
import android.content.pm.PackageInfo;
import android.content.pm.PackageManager;

import com.qualcomm.hardware.bosch.BNO055IMU;
import com.qualcomm.hardware.lynx.LynxEmbeddedIMU;
import com.qualcomm.hardware.lynx.LynxI2cDeviceSynch;
import com.qualcomm.hardware.lynx.LynxI2cDeviceSynchV1;

rbrott

# Avoid touching the FTC SDK
-keep class com.qualcomm.** {*;}
-keep class org.firstinspires.** {*;}
-keep class com.google.blocks.** {*;}
-keep class com.vuforia.** {*;}
-keep class javax.** {*;}

-dontwarn com.qualcomm.**
-dontwarn org.firstinspires.**
-dontwarn com.vuforia.**

rbrott

package com.qualcomm.hardware.lynx;

import com.qualcomm.hardware.stmicroelectronics.VL53L0X;
import com.qualcomm.robotcore.hardware.I2cDeviceSynch;
import com.qualcomm.robotcore.hardware.configuration.I2cSensor;

/**
 * {@link REVLaserDistanceSensor} implements support for the REV Robotics time-of-flight distance sensor.
 *
 * @see <a href="http://revrobotics.com">REV Robotics Website</a>