Dairy-Foundation · Blaziumm · Mar 25, 2025 · Mar 25, 2025 · Mar 25, 2025
diff --git a/Sinister/SlothLoad.mdx b/Sinister/SlothLoad.mdx
@@ -0,0 +1,265 @@
+---
+title: "SlothLoad"
+---
+
+
+Sloth is a Sinister runtime that enables the use of Sinister's classpath scanning and dynamic loading capabilities on the android FTC platform.
+
+
+Like fastload, Sloth is built for hot reloading your teamcode, which allows for very fast iteration of code.
+
+
+# Features:
+
+
+- Sloth is much faster than fastload. fastload advertises ~7 seconds upload time, Sloth should be 2 seconds or less.
+- Sloth will keep changes across restarts and power cycles of the robot.
+- `@Pinned` can be put on classes to prevent dynamically changing it, or any subclasses of it.
+- Sloth is built on a more capable runtime, that supports Dairy, and has shims for all of the SDK, meaning that all SDK classpath scanning is performed dynamically.
+- This includes device drivers, like the GoBilda PinPoint that are uploaded alongside a team's code.
+- Sloth has a drop-in replacement of Dashboard that replaces some internal mechanisms of Dashboard to use Sloth and Sinister equivalents. This fork fully supports dynamic uploading for Configuration and OpModes.
+- Not hacked onto the OnBotJava system, so doesn't break that
+- Sloth only processes the change in code when your OpMode ends, which means its safe to run Sloth while running other code
+
+
+1. Sloth will only dynamically hot reload classes in the `org.firsinspires.ftc.teamcode` package, and subpackages.
+2. It is possible to upload code that compiles, but does not work when hot reloaded due to:
+   - Installing or changing libraries.
+   - Changing files that are not hot reloaded.
+   - Changing `@Pinned` on files. Be careful to ensure that you make changes that will be changed, and if make changes that will not, that you perform a full install in order to propagate them.
+
+
+# Installation:
+
+
+<Note>
+  IF YOU HAVE USED THE PEDRO QUICKSTART, PLEASE MOVE YOUR FILES TO THE `org.firstinspires.ftc.teamcode` PACKAGE. THE SECOND MOST COMMON ERROR I SEE IS USING THE PEDRO QUICKSTART. THEY WILL NOT FIX THIS ISSUE.
+</Note>
+
+
+<Info>
+  If you are using Dairy, skip to the Dairy Core Heading. If you are using Dashboard, check out the Dashboard heading.
+</Info>
+
+
+## Sloth Library
+
+
+Add the dairy releases repository to your `TeamCode` `build.gradle`, above the dependencies block
+
+
+```gradle
+repositories {
+    maven {
+        url = "https://repo.dairy.foundation/releases"
+    }
+}
+```
+
+
+then add sloth to the `dependencies` block:
+
+
+```gradle
+dependencies {
+    implementation("dev.frozenmilk.sinister:Sloth:0.2.1")
+}
+```
+
+
+## Dairy Core
+
+
+<Info>
+  To use this release of Sloth with Dairy you need to install a snapshot version of Dairy's Core
+</Info>
+
+
+Add the dairy releases and snapshots repository to your `TeamCode` `build.gradle`, above the `dependencies` block
+
+
+```gradle
+repositories {
+    maven {
+        url = "https://repo.dairy.foundation/releases"
+    }
+    maven {
+        url = "https://repo.dairy.foundation/snapshots"
+    }
+}
+```
+
+
+then add core to the `dependencies` block:
+
+
+```gradle
+dependencies {
+    implementation("dev.frozenmilk.dairy:Core:2.2.1")
+}
+```
+
+
+<Note>
+  You do not need to install Sloth as well, and if you currently have any installations of either "`dev.frozenmilk.dairy:Util`" or "`dev.frozenmilk:Sinister`" then you need to remove those, this Core version will provide the correct versions of these libraries.
+</Note>
+
+
+Now install the load plugin
+
+
+# Load Plugin
+
+
+add this to the top of your `TeamCode` `build.gradle`
+
+
+```gradle
+buildscript {
+    repositories {
+        mavenCentral()
+        maven {
+            url "https://repo.dairy.foundation/releases"
+        }
+    }
+    dependencies {
+        classpath "dev.frozenmilk:Load:0.2.1"
+    }
+}
+```
+
+
+add this after the apply lines in the same file
+
+
+```gradle
+// there should be 2 or 3 more lines that start with apply here
+apply plugin: 'dev.frozenmilk.sinister.sloth.load'
+```
+
+
+sync and download onto your robot via standard install
+
+
+now add the gradle tasks
+
+
+<Note>
+  If you use dashboard, install that now, then setup the gradle tasks
+</Note>
+
+
+## Dashboard
+
+
+add the dairy releases repository to your TeamCode build.gradle, above the dependencies block (if you already have it, no need to do so again)
+
+
+```gradle
+repositories {
+    maven {
+        url = "https://repo.dairy.foundation/releases"
+    }
+}
+```
+
+
+then add dashboard to the dependencies block:
+
+
+```gradle
+dependencies {
+    implementation("com.acmerobotics.slothboard:dashboard:0.2.1+0.4.16")
+}
+```
+
+
+<Note>
+  if you use a library that imports dashboard via a implementation or api dependency, ask the library maintainers to consider changing it to compileOnly or change the implementation like so:
+</Note>
+
+
+```gradle
+implementation("com.pedropathing:pedro:1.0.8") {
+   exclude group: "com.acmerobotics.dashboard"
+}
+```
+
+
+or
+
+
+```gradle
+implementation("com.acmerobotics.roadrunner:ftc:0.1.21") {
+   exclude group: "com.acmerobotics.dashboard"
+}
+implementation ("com.acmerobotics.roadrunner:actions:1.0.1"){
+   exclude group: "com.acmerobotics.dashboard"
+}
+```
+
+
+<Info>
+  Both Pedro and RR require this. Pedro and RR version numbers may not be up to date.
+</Info>
+
+
+# Gradle Tasks
+
+
+edit configurations:
+
+
+![Edit Configurations Pn](/images/edit_configurations.png)
+
+
+add new configuration:
+
+
+![Add New Configuration Pn](/images/add_new_configuration.png)
+
+
+select gradle:
+
+
+![Add New Gradle Configuration Pn](/images/add_new_gradle_configuration.png)
+
+
+add `deploySloth` and save it:
+
+
+![Add Deploy Sloth Task Pn](/images/add_deploySloth_task.png)
+
+
+<Note>
+  Android studio will not auto complete the names of these tasks, just write it and it will work.
+</Note>
+
+
+edit TeamCode configuration:
+
+
+![Edit Team Code Configuration Pn](/images/edit_TeamCode_configuration.png)
+
+
+add new gradle task:
+
+
+![Run Gradle Task Pn](/images/run_gradle_task.png)
+
+
+add `removeSlothRemote`:\
+![Add Remove Sloth Remote Task Pn](/images/add_removeSlothRemote_task.png)
+
+
+<Note>
+  type `:TeamCode` into the `Gradle Project` box to get the right contents, do not copy mine.
+</Note>
+
+
+put `removeSlothRemote` first and save:\
+![Ensure Order Pn](/images/ensure_order.png)
+
+
+Run the deploySloth task you just added to deploy the code.
+
diff --git a/images/add_deploySloth_task.png b/images/add_deploySloth_task.png
diff --git a/images/add_new_configuration.png b/images/add_new_configuration.png
diff --git a/images/add_new_gradle_configuration.png b/images/add_new_gradle_configuration.png
diff --git a/images/add_removeSlothRemote_task.png b/images/add_removeSlothRemote_task.png
diff --git a/images/edit_TeamCode_configuration.png b/images/edit_TeamCode_configuration.png
diff --git a/images/edit_configurations.png b/images/edit_configurations.png
diff --git a/images/ensure_order.png b/images/ensure_order.png
diff --git a/images/run_gradle_task.png b/images/run_gradle_task.png
diff --git a/mint.json b/mint.json
@@ -124,6 +124,12 @@
 				"Sinister/overview"
 			]
 		},
+		{
+			"group": "Sloth Load",
+			"pages": [
+				"Sinister/SlothLoad"
+			]
+		},
 		{
 			"group": "AppHooks",
 			"pages": [
@@ -230,3 +236,4 @@
 		"github": "https://github.com/Dairy-Foundation/docs"
 	}
 }
+