[evanperryg]

Originally Posted by Thad House

They are all JNI. The issues come from not being able to pass by reference, so passing structs, such as the ones used for vision, still has trouble even with the JNI.

Some of the things that I know are fine, but still make me cringe, involve the use of generics and enums. Since Java on the CRIO did not support either of these, most of the Java code doesn't have them. However, you can tell that some of the new classes do use generics and enums. I know this is fine, but you can tell there is a disconnect between the old and the new code, and something that would be nice would be for somebody to take a month and thoroughly clean it up. I bet with some cleanup to include new features, and maybe some algorithm refactoring, we could get the code much nicer and easier to work with. Maybe they could fix all the spelling and punctuation errors in the comments too

We're working on it. Among other things, we've also removed three nested while(true)s with no delays, and the notorious error message that swears at you.