[wireties]

Originally Posted by virtuald

I would probably recommend restructuring the code so that everything can run in a single thread. In an FRC context, my opinion is that typically threads cause more trouble than they're worth.

Yikes - a little conservative maybe?. We have a a world-class real-time multi-tasking OS at our disposal and we don't use it? In years where our students don't "get" the multi-tasking from the start I create templates that prevent them from messing up the timing. WPILib hides synchronization and mutual exclusion pretty well and the messaging API is straight forward. By the end of build season the students always seem to "get it".