Class Timer


  • public class Timer
    extends Object
    • Constructor Detail

      • Timer

        public Timer()
    • Method Detail

      • getFPGATimestamp

        public static double getFPGATimestamp()
        Return the system clock time in seconds. Return the time from the FPGA hardware clock in seconds since the FPGA started.
        Returns:
        Robot running time in seconds.
      • getMatchTime

        public static double getMatchTime()
        Return the approximate match time. The FMS does not send an official match time to the robots, but does send an approximate match time. The value will count down the time remaining in the current period (auto or teleop). Warning: This is not an official time (so it cannot be used to dispute ref calls or guarantee that a function will trigger before the match ends) The Practice Match function of the DS approximates the behaviour seen on the field.
        Returns:
        Time remaining in current match period (auto or teleop) in seconds
      • delay

        public static void delay​(double seconds)
        Pause the thread for a specified time. Pause the execution of the thread for a specified period of time given in seconds. Motors will continue to run at their last assigned values, and sensors will continue to update. Only the task containing the wait will pause until the wait time is expired.
        Parameters:
        seconds - Length of time to pause
      • get

        public double get()
        Get the current time from the timer. If the clock is running it is derived from the current system clock the start time stored in the timer class. If the clock is not running, then return the time when it was last stopped.
        Returns:
        Current time value for this timer in seconds
      • reset

        public void reset()
        Reset the timer by setting the time to 0. Make the timer startTime the current time so new requests will be relative now
      • start

        public void start()
        Start the timer running. Just set the running flag to true indicating that all time requests should be relative to the system clock.
      • stop

        public void stop()
        Stop the timer. This computes the time as of now and clears the running flag, causing all subsequent time requests to be read from the accumulated time rather than looking at the system clock.
      • hasPeriodPassed

        public boolean hasPeriodPassed​(double period)
        Check if the period specified has passed and if it has, advance the start time by that period. This is useful to decide if it's time to do periodic work without drifting later by the time it took to get around to checking.
        Parameters:
        period - The period to check for (in seconds).
        Returns:
        If the period has passed.