Steps:

• Review alternatives to improve performance in Sysfs.java
• Evaluate the performance with JMH
• Consolidate changes with current architecture

Original Request:

The java code attached runs in about 100 to 140 milliseconds per iteration. Similar code using the ev3 classroom from LEGO runs each iteration in 2 to 4 milliseconds. 100 milliseconds is enough time for the robot to travel an inch or 3, which becomes significant quickly.

My question is - is the delay in the ev3 os streaming implementation, or in ev3dev-lang-java:2.6.2-SNAPSHOT code that reads and writes those streams? That'll tell me what to try first to speed it up my own code. If it's at the OS level then probably the best I can do is read and write the buffers in parallel. If it's in Java IO then maybe a JNI approach or an NIO loop could help.

I'm using ev3dev-lang-java:2.6.2-SNAPSHOT - on a stock EV3, not overclocked, with the stock ev3dev OS SDD card. It does touch the lejos SampleProvider to use the gyro sensor, but that seems to pass right through to Sysfs.readFloat(...).

Juan Antonio Breña Moral asked me to open an issue for the ev3dev-lang-java project here.