[MGross21]

MissionDecodeTheFinalCodePartOne2025-2026/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptMotorBulkRead.java

Lines 47 to 80 in 54ec788

	* Cache Mode = OFF This is the normal default, where no cache is used, and every read produces a discrete transaction with
	* an expansion hub, which is the slowest approach, but guarentees that the value is as fresh (recent) as possible..
	*
	* Cache Mode = AUTO This mode will attempt to minimize the number of discrete read commands, by performing bulk-reads
	* and then returning values that have been cached. The cache is updated automatically whenever any specific encoder is re-read.
	* This mode will always return new data, but it may perform more bulk-reads than absolutely required.
	* Extra reads will be performed if multiple encoder/velocity reads are performed on the same encoder in one control cycle.
	* This mode is a good compromise between the OFF and MANUAL modes.
	* Note: If there are significant user-program delays between encoder reads, the cached value may not be fresh (recent).
	* You can issue a clearBulkCache() call at any time force a fresh bulk-read on the next encoder read.
	*
	* Cache Mode = MANUAL This mode requires the user's code to determine the best time to clear the cached bulk-read data.
	* Well organized code will reset the cache once at the beginning of the control cycle, and then immediately read and store all the encoder values.
	* This approach will produce the shortest cycle times, but it does require the user to manually clear the cache.
	* Since NO automatic Bulk-Reads are performed, neglecting to clear the bulk cache will result in the same values being returned
	* each time an encoder read is performed.
	*
	* -------------------------------------
	*
	* General tip to speed up your control cycles:
	*
	* No matter what method you use to read encoders and other inputs, you should try to
	* avoid reading the same encoder input multiple times around a control loop.
	* Under normal conditions, this will slow down the control loop.
	* The preferred method is to read all the required inputs ONCE at the beginning of the loop,
	* and save the values in variable that can be used by other parts of the control code.
	*
	* eg: if you are sending encoder positions to your telemetry display, putting a getCurrentPosition()
	* call in the telemetry statement will force the code to go and get another copy which will take time.
	* It's much better read the position into a variable once, and use that variable for control AND display.
	* Reading saved variables takes no time at all.
	*
	* Once you put all your sensor reads at the beginning of the control cycle, it's very easy to use
	* the bulk-read AUTO mode to streamline your cycle timing.