[sjspry]

I generally don't go and make my own spoon before I go to eat some soup.

That being said, I have tried to strongarm the Squawk VM running on the cRIO. An instance of Timer will handle execution of all of its TimerTasks. If you want, you can make instances of Thread and run them asynchronously from the main robot code. I would point out that you can't really guarantee the length of a timeslice unless you have ring 0 privileges. In this case, you could argue ring 0 privileges are JVM-level, but the JVM has a lot of overhead (compared to modern ones). I would say a timeslice of less than 15ms will be impossible to guarantee.

And everyone seems to bring up JNI. Has anyone who says that actually tried to use it? It'd be even harder on something like a FIRST-compliant cRIO, where you have huge restrictions on what you can do with the thing (not saying it'd be impossible, but more of a pain than usual).