Takes an exception, of any flavor, and wraps it (only if necessary) to yield
diff --git a/SwerveRoboticsLibrary/doc/javadoc/org/swerverobotics/library/SynchronousOpMode.html b/SwerveRoboticsLibrary/doc/javadoc/org/swerverobotics/library/SynchronousOpMode.html
index 9c17a70a05f..1b2dc9716c5 100644
--- a/SwerveRoboticsLibrary/doc/javadoc/org/swerverobotics/library/SynchronousOpMode.html
+++ b/SwerveRoboticsLibrary/doc/javadoc/org/swerverobotics/library/SynchronousOpMode.html
@@ -17,8 +17,8 @@
catch(err) {
}
//-->
-var methods = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10,"i5":10,"i6":9,"i7":9,"i8":10,"i9":10,"i10":10,"i11":10,"i12":10,"i13":10,"i14":6,"i15":10,"i16":10,"i17":10,"i18":10,"i19":10,"i20":10,"i21":10,"i22":10,"i23":10,"i24":10,"i25":10,"i26":10,"i27":10,"i28":10,"i29":10,"i30":9,"i31":10,"i32":9,"i33":9,"i34":10,"i35":10,"i36":10};
-var tabs = {65535:["t0","All Methods"],1:["t1","Static Methods"],2:["t2","Instance Methods"],4:["t3","Abstract Methods"],8:["t4","Concrete Methods"]};
+var methods = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10,"i5":10,"i6":9,"i7":9,"i8":10,"i9":10,"i10":10,"i11":10,"i12":10,"i13":10,"i14":6,"i15":10,"i16":10,"i17":10,"i18":10,"i19":10,"i20":10,"i21":10,"i22":10,"i23":10,"i24":10,"i25":10,"i26":10,"i27":10,"i28":10,"i29":10,"i30":9,"i31":10,"i32":9,"i33":9,"i34":10,"i35":10,"i36":10,"i37":42};
+var tabs = {65535:["t0","All Methods"],1:["t1","Static Methods"],2:["t2","Instance Methods"],4:["t3","Abstract Methods"],8:["t4","Concrete Methods"],32:["t6","Deprecated Methods"]};
var altColor = "altColor";
var rowColor = "rowColor";
var tableTab = "tableTab";
@@ -230,7 +230,7 @@
Constructor Summary
Method Summary
+
+
+
+
diff --git a/SwerveRoboticsLibrary/doc/javadoc/org/swerverobotics/library/examples/SynchAnalogOutputDemo.html b/SwerveRoboticsLibrary/doc/javadoc/org/swerverobotics/library/examples/SynchAnalogOutputDemo.html
index 951ad36f621..d883836392a 100644
--- a/SwerveRoboticsLibrary/doc/javadoc/org/swerverobotics/library/examples/SynchAnalogOutputDemo.html
+++ b/SwerveRoboticsLibrary/doc/javadoc/org/swerverobotics/library/examples/SynchAnalogOutputDemo.html
@@ -203,7 +203,7 @@
Method Summary
-
createSynchronousWorkerThread, executeOnLoopThread, executeSingletonOnLoopThread, getLoopCount, getMsLoopDwellMax, getNewSingletonKey, getStopActionRegistrar, getThreadThunker, idle, init_loop, init, isStarted, isStopRequested, loop, midLoopHook, opModeIsActive, postInitHook, postInitLoopHook, postLoopHook, postStartHook, postStopHook, preInitHook, preInitLoopHook, preLoopHook, preStartHook, preStopHook, registerActionOnStop, setMsLoopDwellMax, start, staticGetNewSingletonKey, stop, synchronousThreadIdle, synchronousThreadWaitForLoopCycleEmptyOfActionKey, updateGamepads, waitForStart, waitForThreadsWritesToReachHardware
+
createSynchronousWorkerThread, executeOnLoopThread, executeSingletonOnLoopThread, getLoopCount, getMsLoopDwellMax, getNewSingletonKey, getStopActionRegistrar, getThreadThunker, idle, init_loop, init, isStarted, isStopRequested, loop, midLoopHook, opModeIsActive, postInitHook, postInitLoopHook, postLoopHook, postStartHook, postStopHook, preInitHook, preInitLoopHook, preLoopHook, preStartHook, preStopHook, registerActionOnStop, setMsLoopDwellMax, start, staticGetNewSingletonKey, stop, synchronousThreadIdle, synchronousThreadWaitForLoopCycleEmptyOfActionKey, updateGamepads, waitForStart, waitForThreadsWritesToReachHardware, waitOneFullHardwareCycle
-
diff --git a/SwerveRoboticsLibrary/doc/javadoc/org/swerverobotics/library/examples/SynchIMUDemo.html b/SwerveRoboticsLibrary/doc/javadoc/org/swerverobotics/library/examples/SynchIMUDemo.html
index 51cefd9bef9..ac5815c56db 100644
--- a/SwerveRoboticsLibrary/doc/javadoc/org/swerverobotics/library/examples/SynchIMUDemo.html
+++ b/SwerveRoboticsLibrary/doc/javadoc/org/swerverobotics/library/examples/SynchIMUDemo.html
@@ -197,7 +197,7 @@
Method Summary
-createSynchronousWorkerThread, executeOnLoopThread, executeSingletonOnLoopThread, getLoopCount, getMsLoopDwellMax, getNewSingletonKey, getStopActionRegistrar, getThreadThunker, idle, init_loop, init, isStarted, isStopRequested, loop, midLoopHook, opModeIsActive, postInitHook, postInitLoopHook, postLoopHook, postStartHook, postStopHook, preInitHook, preInitLoopHook, preLoopHook, preStartHook, preStopHook, registerActionOnStop, setMsLoopDwellMax, start, staticGetNewSingletonKey, stop, synchronousThreadIdle, synchronousThreadWaitForLoopCycleEmptyOfActionKey, updateGamepads, waitForStart, waitForThreadsWritesToReachHardware
+createSynchronousWorkerThread, executeOnLoopThread, executeSingletonOnLoopThread, getLoopCount, getMsLoopDwellMax, getNewSingletonKey, getStopActionRegistrar, getThreadThunker, idle, init_loop, init, isStarted, isStopRequested, loop, midLoopHook, opModeIsActive, postInitHook, postInitLoopHook, postLoopHook, postStartHook, postStopHook, preInitHook, preInitLoopHook, preLoopHook, preStartHook, preStopHook, registerActionOnStop, setMsLoopDwellMax, start, staticGetNewSingletonKey, stop, synchronousThreadIdle, synchronousThreadWaitForLoopCycleEmptyOfActionKey, updateGamepads, waitForStart, waitForThreadsWritesToReachHardware, waitOneFullHardwareCycle
-
diff --git a/SwerveRoboticsLibrary/doc/javadoc/org/swerverobotics/library/examples/SynchLEDDemo.html b/SwerveRoboticsLibrary/doc/javadoc/org/swerverobotics/library/examples/SynchLEDDemo.html
index 98826f6e96b..5ebba44d413 100644
--- a/SwerveRoboticsLibrary/doc/javadoc/org/swerverobotics/library/examples/SynchLEDDemo.html
+++ b/SwerveRoboticsLibrary/doc/javadoc/org/swerverobotics/library/examples/SynchLEDDemo.html
@@ -198,7 +198,7 @@
Method Summary
-createSynchronousWorkerThread, executeOnLoopThread, executeSingletonOnLoopThread, getLoopCount, getMsLoopDwellMax, getNewSingletonKey, getStopActionRegistrar, getThreadThunker, idle, init_loop, init, isStarted, isStopRequested, loop, midLoopHook, opModeIsActive, postInitHook, postInitLoopHook, postLoopHook, postStartHook, postStopHook, preInitHook, preInitLoopHook, preLoopHook, preStartHook, preStopHook, registerActionOnStop, setMsLoopDwellMax, start, staticGetNewSingletonKey, stop, synchronousThreadIdle, synchronousThreadWaitForLoopCycleEmptyOfActionKey, updateGamepads, waitForStart, waitForThreadsWritesToReachHardware
+createSynchronousWorkerThread, executeOnLoopThread, executeSingletonOnLoopThread, getLoopCount, getMsLoopDwellMax, getNewSingletonKey, getStopActionRegistrar, getThreadThunker, idle, init_loop, init, isStarted, isStopRequested, loop, midLoopHook, opModeIsActive, postInitHook, postInitLoopHook, postLoopHook, postStartHook, postStopHook, preInitHook, preInitLoopHook, preLoopHook, preStartHook, preStopHook, registerActionOnStop, setMsLoopDwellMax, start, staticGetNewSingletonKey, stop, synchronousThreadIdle, synchronousThreadWaitForLoopCycleEmptyOfActionKey, updateGamepads, waitForStart, waitForThreadsWritesToReachHardware, waitOneFullHardwareCycle
-
diff --git a/SwerveRoboticsLibrary/doc/javadoc/org/swerverobotics/library/examples/SynchMotorLoopPerf.html b/SwerveRoboticsLibrary/doc/javadoc/org/swerverobotics/library/examples/SynchMotorLoopPerf.html
index c6728758427..351f209dd14 100644
--- a/SwerveRoboticsLibrary/doc/javadoc/org/swerverobotics/library/examples/SynchMotorLoopPerf.html
+++ b/SwerveRoboticsLibrary/doc/javadoc/org/swerverobotics/library/examples/SynchMotorLoopPerf.html
@@ -198,7 +198,7 @@
Method Summary
-createSynchronousWorkerThread, executeOnLoopThread, executeSingletonOnLoopThread, getLoopCount, getMsLoopDwellMax, getNewSingletonKey, getStopActionRegistrar, getThreadThunker, idle, init_loop, init, isStarted, isStopRequested, loop, midLoopHook, opModeIsActive, postInitHook, postInitLoopHook, postLoopHook, postStartHook, postStopHook, preInitHook, preInitLoopHook, preLoopHook, preStartHook, preStopHook, registerActionOnStop, setMsLoopDwellMax, start, staticGetNewSingletonKey, stop, synchronousThreadIdle, synchronousThreadWaitForLoopCycleEmptyOfActionKey, updateGamepads, waitForStart, waitForThreadsWritesToReachHardware
+createSynchronousWorkerThread, executeOnLoopThread, executeSingletonOnLoopThread, getLoopCount, getMsLoopDwellMax, getNewSingletonKey, getStopActionRegistrar, getThreadThunker, idle, init_loop, init, isStarted, isStopRequested, loop, midLoopHook, opModeIsActive, postInitHook, postInitLoopHook, postLoopHook, postStartHook, postStopHook, preInitHook, preInitLoopHook, preLoopHook, preStartHook, preStopHook, registerActionOnStop, setMsLoopDwellMax, start, staticGetNewSingletonKey, stop, synchronousThreadIdle, synchronousThreadWaitForLoopCycleEmptyOfActionKey, updateGamepads, waitForStart, waitForThreadsWritesToReachHardware, waitOneFullHardwareCycle
-
diff --git a/SwerveRoboticsLibrary/doc/javadoc/org/swerverobotics/library/examples/SynchServoDemo.html b/SwerveRoboticsLibrary/doc/javadoc/org/swerverobotics/library/examples/SynchServoDemo.html
index cd7105ab338..c5529fb2f01 100644
--- a/SwerveRoboticsLibrary/doc/javadoc/org/swerverobotics/library/examples/SynchServoDemo.html
+++ b/SwerveRoboticsLibrary/doc/javadoc/org/swerverobotics/library/examples/SynchServoDemo.html
@@ -198,7 +198,7 @@
Method Summary
-createSynchronousWorkerThread, executeOnLoopThread, executeSingletonOnLoopThread, getLoopCount, getMsLoopDwellMax, getNewSingletonKey, getStopActionRegistrar, getThreadThunker, idle, init_loop, init, isStarted, isStopRequested, loop, midLoopHook, opModeIsActive, postInitHook, postInitLoopHook, postLoopHook, postStartHook, postStopHook, preInitHook, preInitLoopHook, preLoopHook, preStartHook, preStopHook, registerActionOnStop, setMsLoopDwellMax, start, staticGetNewSingletonKey, stop, synchronousThreadIdle, synchronousThreadWaitForLoopCycleEmptyOfActionKey, updateGamepads, waitForStart, waitForThreadsWritesToReachHardware
+createSynchronousWorkerThread, executeOnLoopThread, executeSingletonOnLoopThread, getLoopCount, getMsLoopDwellMax, getNewSingletonKey, getStopActionRegistrar, getThreadThunker, idle, init_loop, init, isStarted, isStopRequested, loop, midLoopHook, opModeIsActive, postInitHook, postInitLoopHook, postLoopHook, postStartHook, postStopHook, preInitHook, preInitLoopHook, preLoopHook, preStartHook, preStopHook, registerActionOnStop, setMsLoopDwellMax, start, staticGetNewSingletonKey, stop, synchronousThreadIdle, synchronousThreadWaitForLoopCycleEmptyOfActionKey, updateGamepads, waitForStart, waitForThreadsWritesToReachHardware, waitOneFullHardwareCycle
-
diff --git a/SwerveRoboticsLibrary/doc/javadoc/org/swerverobotics/library/examples/SynchSkeletalOp.html b/SwerveRoboticsLibrary/doc/javadoc/org/swerverobotics/library/examples/SynchSkeletalOp.html
index 79fedd8bfed..c9888717b53 100644
--- a/SwerveRoboticsLibrary/doc/javadoc/org/swerverobotics/library/examples/SynchSkeletalOp.html
+++ b/SwerveRoboticsLibrary/doc/javadoc/org/swerverobotics/library/examples/SynchSkeletalOp.html
@@ -197,7 +197,7 @@
Method Summary
-createSynchronousWorkerThread, executeOnLoopThread, executeSingletonOnLoopThread, getLoopCount, getMsLoopDwellMax, getNewSingletonKey, getStopActionRegistrar, getThreadThunker, idle, init_loop, init, isStarted, isStopRequested, loop, midLoopHook, opModeIsActive, postInitHook, postInitLoopHook, postLoopHook, postStartHook, postStopHook, preInitHook, preInitLoopHook, preLoopHook, preStartHook, preStopHook, registerActionOnStop, setMsLoopDwellMax, start, staticGetNewSingletonKey, stop, synchronousThreadIdle, synchronousThreadWaitForLoopCycleEmptyOfActionKey, updateGamepads, waitForStart, waitForThreadsWritesToReachHardware
+createSynchronousWorkerThread, executeOnLoopThread, executeSingletonOnLoopThread, getLoopCount, getMsLoopDwellMax, getNewSingletonKey, getStopActionRegistrar, getThreadThunker, idle, init_loop, init, isStarted, isStopRequested, loop, midLoopHook, opModeIsActive, postInitHook, postInitLoopHook, postLoopHook, postStartHook, postStopHook, preInitHook, preInitLoopHook, preLoopHook, preStartHook, preStopHook, registerActionOnStop, setMsLoopDwellMax, start, staticGetNewSingletonKey, stop, synchronousThreadIdle, synchronousThreadWaitForLoopCycleEmptyOfActionKey, updateGamepads, waitForStart, waitForThreadsWritesToReachHardware, waitOneFullHardwareCycle
-
diff --git a/SwerveRoboticsLibrary/doc/javadoc/org/swerverobotics/library/examples/SynchTeleOp.html b/SwerveRoboticsLibrary/doc/javadoc/org/swerverobotics/library/examples/SynchTeleOp.html
index 43abc1e1da6..19221fb0da8 100644
--- a/SwerveRoboticsLibrary/doc/javadoc/org/swerverobotics/library/examples/SynchTeleOp.html
+++ b/SwerveRoboticsLibrary/doc/javadoc/org/swerverobotics/library/examples/SynchTeleOp.html
@@ -196,7 +196,7 @@
Method Summary
-createSynchronousWorkerThread, executeOnLoopThread, executeSingletonOnLoopThread, getLoopCount, getMsLoopDwellMax, getNewSingletonKey, getStopActionRegistrar, getThreadThunker, idle, init_loop, init, isStarted, isStopRequested, loop, midLoopHook, opModeIsActive, postInitHook, postInitLoopHook, postLoopHook, postStartHook, postStopHook, preInitHook, preInitLoopHook, preLoopHook, preStartHook, preStopHook, registerActionOnStop, setMsLoopDwellMax, start, staticGetNewSingletonKey, stop, synchronousThreadIdle, synchronousThreadWaitForLoopCycleEmptyOfActionKey, updateGamepads, waitForStart, waitForThreadsWritesToReachHardware
+createSynchronousWorkerThread, executeOnLoopThread, executeSingletonOnLoopThread, getLoopCount, getMsLoopDwellMax, getNewSingletonKey, getStopActionRegistrar, getThreadThunker, idle, init_loop, init, isStarted, isStopRequested, loop, midLoopHook, opModeIsActive, postInitHook, postInitLoopHook, postLoopHook, postStartHook, postStopHook, preInitHook, preInitLoopHook, preLoopHook, preStartHook, preStopHook, registerActionOnStop, setMsLoopDwellMax, start, staticGetNewSingletonKey, stop, synchronousThreadIdle, synchronousThreadWaitForLoopCycleEmptyOfActionKey, updateGamepads, waitForStart, waitForThreadsWritesToReachHardware, waitOneFullHardwareCycle
-
diff --git a/SwerveRoboticsLibrary/doc/javadoc/org/swerverobotics/library/examples/SynchTeleOpModes.html b/SwerveRoboticsLibrary/doc/javadoc/org/swerverobotics/library/examples/SynchTeleOpModes.html
index 973be1500eb..2d799168721 100644
--- a/SwerveRoboticsLibrary/doc/javadoc/org/swerverobotics/library/examples/SynchTeleOpModes.html
+++ b/SwerveRoboticsLibrary/doc/javadoc/org/swerverobotics/library/examples/SynchTeleOpModes.html
@@ -200,7 +200,7 @@
Method Summary
-createSynchronousWorkerThread, executeOnLoopThread, executeSingletonOnLoopThread, getLoopCount, getMsLoopDwellMax, getNewSingletonKey, getStopActionRegistrar, getThreadThunker, idle, init_loop, init, isStarted, isStopRequested, loop, midLoopHook, opModeIsActive, postInitHook, postInitLoopHook, postLoopHook, postStartHook, postStopHook, preInitHook, preInitLoopHook, preLoopHook, preStartHook, preStopHook, registerActionOnStop, setMsLoopDwellMax, start, staticGetNewSingletonKey, stop, synchronousThreadIdle, synchronousThreadWaitForLoopCycleEmptyOfActionKey, updateGamepads, waitForStart, waitForThreadsWritesToReachHardware
+createSynchronousWorkerThread, executeOnLoopThread, executeSingletonOnLoopThread, getLoopCount, getMsLoopDwellMax, getNewSingletonKey, getStopActionRegistrar, getThreadThunker, idle, init_loop, init, isStarted, isStopRequested, loop, midLoopHook, opModeIsActive, postInitHook, postInitLoopHook, postLoopHook, postStartHook, postStopHook, preInitHook, preInitLoopHook, preLoopHook, preStartHook, preStopHook, registerActionOnStop, setMsLoopDwellMax, start, staticGetNewSingletonKey, stop, synchronousThreadIdle, synchronousThreadWaitForLoopCycleEmptyOfActionKey, updateGamepads, waitForStart, waitForThreadsWritesToReachHardware, waitOneFullHardwareCycle
-
diff --git a/SwerveRoboticsLibrary/doc/javadoc/org/swerverobotics/library/examples/SynchTelemetryOp.html b/SwerveRoboticsLibrary/doc/javadoc/org/swerverobotics/library/examples/SynchTelemetryOp.html
index 822ccffb802..360139537fd 100644
--- a/SwerveRoboticsLibrary/doc/javadoc/org/swerverobotics/library/examples/SynchTelemetryOp.html
+++ b/SwerveRoboticsLibrary/doc/javadoc/org/swerverobotics/library/examples/SynchTelemetryOp.html
@@ -196,7 +196,7 @@
Method Summary
-createSynchronousWorkerThread, executeOnLoopThread, executeSingletonOnLoopThread, getLoopCount, getMsLoopDwellMax, getNewSingletonKey, getStopActionRegistrar, getThreadThunker, idle, init_loop, init, isStarted, isStopRequested, loop, midLoopHook, opModeIsActive, postInitHook, postInitLoopHook, postLoopHook, postStartHook, postStopHook, preInitHook, preInitLoopHook, preLoopHook, preStartHook, preStopHook, registerActionOnStop, setMsLoopDwellMax, start, staticGetNewSingletonKey, stop, synchronousThreadIdle, synchronousThreadWaitForLoopCycleEmptyOfActionKey, updateGamepads, waitForStart, waitForThreadsWritesToReachHardware
+createSynchronousWorkerThread, executeOnLoopThread, executeSingletonOnLoopThread, getLoopCount, getMsLoopDwellMax, getNewSingletonKey, getStopActionRegistrar, getThreadThunker, idle, init_loop, init, isStarted, isStopRequested, loop, midLoopHook, opModeIsActive, postInitHook, postInitLoopHook, postLoopHook, postStartHook, postStopHook, preInitHook, preInitLoopHook, preLoopHook, preStartHook, preStopHook, registerActionOnStop, setMsLoopDwellMax, start, staticGetNewSingletonKey, stop, synchronousThreadIdle, synchronousThreadWaitForLoopCycleEmptyOfActionKey, updateGamepads, waitForStart, waitForThreadsWritesToReachHardware, waitOneFullHardwareCycle
Annotation Type Hierarchy
+- Disabled (implements java.lang.annotation.Annotation)
- Autonomous (implements java.lang.annotation.Annotation)
-- TeleOp (implements java.lang.annotation.Annotation)
- OpModeRegistrar (implements java.lang.annotation.Annotation)
-- Disabled (implements java.lang.annotation.Annotation)
+- TeleOp (implements java.lang.annotation.Annotation)
Enum Hierarchy
@@ -127,14 +127,14 @@ Enum Hierarchy
- java.lang.Enum<E> (implements java.lang.Comparable<T>, java.io.Serializable)
diff --git a/SwerveRoboticsLibrary/doc/javadoc/org/usfirst/ftc/exampleteam/yourcodehere/MyFirstOpMode.html b/SwerveRoboticsLibrary/doc/javadoc/org/usfirst/ftc/exampleteam/yourcodehere/MyFirstOpMode.html
index 79ff38303ea..d616d6062ec 100644
--- a/SwerveRoboticsLibrary/doc/javadoc/org/usfirst/ftc/exampleteam/yourcodehere/MyFirstOpMode.html
+++ b/SwerveRoboticsLibrary/doc/javadoc/org/usfirst/ftc/exampleteam/yourcodehere/MyFirstOpMode.html
@@ -196,7 +196,7 @@ Method Summary
-createSynchronousWorkerThread, executeOnLoopThread, executeSingletonOnLoopThread, getLoopCount, getMsLoopDwellMax, getNewSingletonKey, getStopActionRegistrar, getThreadThunker, idle, init_loop, init, isStarted, isStopRequested, loop, midLoopHook, opModeIsActive, postInitHook, postInitLoopHook, postLoopHook, postStartHook, postStopHook, preInitHook, preInitLoopHook, preLoopHook, preStartHook, preStopHook, registerActionOnStop, setMsLoopDwellMax, start, staticGetNewSingletonKey, stop, synchronousThreadIdle, synchronousThreadWaitForLoopCycleEmptyOfActionKey, updateGamepads, waitForStart, waitForThreadsWritesToReachHardware
+createSynchronousWorkerThread, executeOnLoopThread, executeSingletonOnLoopThread, getLoopCount, getMsLoopDwellMax, getNewSingletonKey, getStopActionRegistrar, getThreadThunker, idle, init_loop, init, isStarted, isStopRequested, loop, midLoopHook, opModeIsActive, postInitHook, postInitLoopHook, postLoopHook, postStartHook, postStopHook, preInitHook, preInitLoopHook, preLoopHook, preStartHook, preStopHook, registerActionOnStop, setMsLoopDwellMax, start, staticGetNewSingletonKey, stop, synchronousThreadIdle, synchronousThreadWaitForLoopCycleEmptyOfActionKey, updateGamepads, waitForStart, waitForThreadsWritesToReachHardware, waitOneFullHardwareCycle
-
diff --git a/SwerveRoboticsLibrary/src/main/java/org/swerverobotics/library/SynchronousOpMode.java b/SwerveRoboticsLibrary/src/main/java/org/swerverobotics/library/SynchronousOpMode.java
index 348866fa2e7..eb2986344a6 100644
--- a/SwerveRoboticsLibrary/src/main/java/org/swerverobotics/library/SynchronousOpMode.java
+++ b/SwerveRoboticsLibrary/src/main/java/org/swerverobotics/library/SynchronousOpMode.java
@@ -230,6 +230,27 @@ public final void idle() throws InterruptedException
}
}
+ /**
+ * Waits until the rest of the event loop code that runs on the loop() thread but outside
+ * of the actual body of the loop() method itself has had a chance to run at least once. In
+ * practice, up to two such 'hardware cycles' are sometimes used. Provided only for compatibility
+ * with LinearOpMode, as it is unnecessary here: {@link #idle()} is a better choice.
+ * @see #idle()
+ */
+ @Deprecated
+ public void waitOneFullHardwareCycle() throws InterruptedException
+ {
+ synchronized (this.loopLock)
+ {
+ this.loopLock.wait();
+ }
+ Thread.sleep(1);
+ synchronized (this.loopLock)
+ {
+ this.loopLock.wait();
+ }
+ }
+
/**
* Idles the current thread until stimulated by the robot controller runtime.
* The current thread must be a synchronous thread.
diff --git a/SwerveRoboticsLibrary/src/main/java/org/swerverobotics/library/internal/I2cDeviceClient.java b/SwerveRoboticsLibrary/src/main/java/org/swerverobotics/library/internal/I2cDeviceClient.java
index 3b1ed5fa4a1..9ed1981f3ac 100644
--- a/SwerveRoboticsLibrary/src/main/java/org/swerverobotics/library/internal/I2cDeviceClient.java
+++ b/SwerveRoboticsLibrary/src/main/java/org/swerverobotics/library/internal/I2cDeviceClient.java
@@ -617,7 +617,10 @@ private class Callback implements I2cController.I2cPortReadyCallback
// The user has new data for us to write. We could do nothing, in which case the data
// will go out at the next callback cycle just fine, or we could try to push it out
- // more aggressively.
+ // more aggressively. Unfortunately, at present there's no way to push it out more quickly,
+ // so in effect this is a no-op. But we've left the code we do have here in place as a
+ // reminder of our current thoughts about some pieces of how the two modes would interact
+ // should that situation change.
void onNewDataToWrite()
{
updateStateMachines(UPDATE_STATE_MACHINE.FROM_USER_WRITE);
@@ -945,7 +948,8 @@ else if (heartbeatAction.heartbeatReadWindow != null)
else if (caller==UPDATE_STATE_MACHINE.FROM_USER_WRITE)
{
- // This is not yet implemented
+ // There's nothing we know to do that would speed things up, so we
+ // just do nothing here and wait until the next portIsReady() callback.
}
//----------------------------------------------------------------------------------