Thread leak fix and motorramping change

src/main/java/com/github/dozer/coroutine/Task.java

@@ -9,13 +9,15 @@
 public abstract class Task extends Generator<BooleanSupplier> {
 
   protected Waiters wait = new Waiters();
+  private boolean stop = false;
 
   public BooleanSupplier waiter = () -> true;
   public Iterator<BooleanSupplier> iterator;
 
   @Override
   protected void run() {
     try {
+      if(this.stop) return;
       runTask();
     } catch (Throwable t) {
       DriverStation.reportError("TASK CRASHED: " + this.getClass().getName() + " \n" + t.toString(),
@@ -46,4 +48,8 @@ public void untilWithTimeout(BooleanSupplier predicate, double secs) {
       yield(() -> predicate.getAsBoolean() || finalTimeMillis < System.currentTimeMillis());
     }
   }
+
+  public void free(){
+    this.stop = true;
+  }
 }

src/main/java/com/github/dozer/coroutine/TaskRunner.java

@@ -1,6 +1,7 @@
 package com.github.dozer.coroutine;
 
 
+import com.github.dozer.coroutine.helpers.RunParallelTask;
 import java.util.Arrays;
 import java.util.Iterator;
 import java.util.LinkedList;
@@ -9,36 +10,23 @@
 
 public class TaskRunner {
 
-  private List<Task> tasks;
+  private RunParallelTask mainTask;
   private boolean disabled = false;
 
   public TaskRunner(Task... tasks) {
-    this.tasks = new LinkedList<>();
-    this.tasks.addAll(Arrays.asList(tasks));
+    this.mainTask = new RunParallelTask(tasks);
   }
 
   public void run() {
     if (disabled) {
       return;
     }
-
-    for (Iterator<Task> taskIterator = tasks.iterator(); taskIterator.hasNext();) {
-      Task task = taskIterator.next();
-      if (task.iterator == null) {
-        task.iterator = task.iterator();
-      }
-
-      if (task.waiter != null && task.waiter.getAsBoolean()) {
-        if (task.iterator.hasNext()) {
-          task.waiter = task.iterator.next();
-        } else {
-          taskIterator.remove();
-        }
-      }
-    }
   }
 
   public void disable() {
     this.disabled = true;
   }
+  public void free(){
+    this.mainTask.free();
+  }
 }

src/main/java/com/github/dozer/coroutine/helpers/RunParallelTask.java

@@ -41,5 +41,12 @@ protected boolean runContinuously() {
 	  }
 	  return tasks.isEmpty();
   }
+
+  public void free(){
+		for(Task task: tasks){
+			task.free();
+		}
+		super.free();
+	}
 }
 

src/main/java/com/github/dozer/coroutine/helpers/RunSequentialTask.java

@@ -20,4 +20,10 @@ protected void runTask() {
 		  }
 	  }
   }
+	public void free(){
+		for(Task task: tasks){
+			task.free();
+		}
+		this.free();
+	}
 }

src/main/java/com/github/dozer/output/MotorRamping.java

@@ -2,15 +2,23 @@
 
 import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.PWMTalonSRX;
+import edu.wpi.first.wpilibj.Timer;
 
 public class MotorRamping implements Motor{
-  public static final double MOTOR_RAMPING = 0.01;
 
   private SpeedController speedController;
+  private double motorRamping;
+  private double lastTime;
 
   public MotorRamping(SpeedController speedController, boolean inverted) {
+    this(speedController, inverted, 5);
+  }
+
+  public MotorRamping(SpeedController speedController, boolean inverted, double rampPerSecond) {
     this.speedController = speedController;
     this.speedController.setInverted(inverted);
+    this.motorRamping = rampPerSecond;
+    this.lastTime = System.currentTimeMillis();
   }
 
   private double setpoint = 0;
@@ -32,12 +40,13 @@ public void stop() {
   }
 
   public void update() {
-    if (Math.abs(setpoint - current) < MOTOR_RAMPING) {
+    double moveAmount = motorRamping * (System.currentTimeMillis() - this.lastTime);
+    if (Math.abs(setpoint - current) < moveAmount) {
       current = setpoint;
-    } else if (setpoint > current) {
-      current += MOTOR_RAMPING;
-    } else if (setpoint < current) {
-      current -= MOTOR_RAMPING;
+    } else if (setpoint > moveAmount) {
+      current += motorRamping;
+    } else if (setpoint < moveAmount) {
+      current -= motorRamping;
     }
     speedController.set(current);
   }