Timing inconsistencies and performance issues

build.gradle

@@ -1,3 +1,5 @@
+import groovy.json.JsonSlurper
+
 plugins {
     id "java"
     id "edu.wpi.first.GradleRIO" version "2024.3.2"
@@ -15,6 +17,8 @@ java {
 
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
+final MAX_JAVA_HEAP_SIZE_MB = 100;
+
 repositories {
     mavenLocal()
     mavenCentral()
@@ -55,6 +59,15 @@ deploy {
                 // getTargetTypeClass is a shortcut to get the class type using a string
 
                 frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
+                    jvmArgs.add("-XX:+UnlockExperimentalVMOptions")
+
+                    // Set the minimum heap size to the maximum heap size to avoid resizing
+                    jvmArgs.add("-Xmx" + MAX_JAVA_HEAP_SIZE_MB + "M")
+                    jvmArgs.add("-Xms" + MAX_JAVA_HEAP_SIZE_MB + "M")
+                    jvmArgs.add("-XX:GCTimeRatio=5")
+                    jvmArgs.add("-XX:+UseSerialGC")
+                    jvmArgs.add("-XX:MaxGCPauseMillis=50")
+                    jvmArgs.add("-XX:+AlwaysPreTouch")
                 }
 
                 // Static files artifact
@@ -102,7 +115,7 @@ dependencies {
     testImplementation "org.mockito:mockito-core:5.4.0"
     testImplementation 'org.mockito:mockito-junit-jupiter:5.4.0'
 
-    def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
+    def akitJson = new JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
     annotationProcessor "org.littletonrobotics.akit.junction:junction-autolog:$akitJson.version"
 }