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Add manual bulk caching to BaseOpMode #53

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Merged
MGross21 merged 3 commits into from
Jun 6, 2026
Merged

Add manual bulk caching to BaseOpMode #53

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7fed52e
Add manual bulk caching to BaseOpMode
MGross21 Feb 11, 2026
ac67045
Merge branch 'master' into cache-read
MGross21 Feb 15, 2026
3054dc1
Merge branch 'master' into cache-read
MGross21 Apr 27, 2026
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11 changes: 11 additions & 0 deletions TeamCode/src/main/kotlin/pioneer/opmodes/BaseOpMode.kt
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Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
package pioneer.opmodes

import com.acmerobotics.dashboard.telemetry.TelemetryPacket
import com.qualcomm.hardware.lynx.LynxModule
import com.qualcomm.robotcore.eventloop.opmode.OpMode
import com.qualcomm.robotcore.util.ElapsedTime
import pioneer.Bot
Expand Down Expand Up @@ -28,7 +29,14 @@ abstract class BaseOpMode : OpMode() {
val elapsedTime: Double
get() = run_timer.seconds()

val allHubs: List<LynxModule> by lazy {
hardwareMap.getAll(LynxModule::class.java)
}

final override fun init() {
for (hub in allHubs) {
hub.bulkCachingMode = LynxModule.BulkCachingMode.MANUAL
}
onInit() // Call user-defined init method
bot.initAll() // Initialize bot hardware
if (!::bot.isInitialized) {
Expand All @@ -49,6 +57,9 @@ abstract class BaseOpMode : OpMode() {
}

final override fun loop() {
for (hub in allHubs) {
hub.clearBulkCache()
}
// Update bot systems
bot.updateAll()

Expand Down
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