[daniel_dsouza]

The "PIDcontroller" class creates a thread to run its calculations.
It's code looks like this (extra stuff removed so that the thread code remains):

java.util.Timer controlLoop;
...
private class PIDTask extends TimerTask {
     ...
     public void run() {
           m_controller.calculate();
     }
}

public PIDController(double Kp, double Ki, double Kd, PIDSource source, PIDOutput[] output, double iperiod) {
     controlLoop = new java.util.Timer();
      ...
     controlLoop.schedule(new PIDController.PIDTask(this), 0L, (long) (period * 1000)); //starts thread
}

I haven't examined the process in depth, but this is what is written.