[JesseK]

The basis of OO programming is organizing the code before the coding begins. Robots are no different: if you start with an architecture that separates constants, utility functions and critical functions, it's easy to create an object-oriented robot codeset that is efficient. Additionally, tools like threads and timers may be folded into the architecture so that simultaneous tasks can run. Each function may be procedural, yet the management of the functions does not have to be.