Package edu.wpi.first.wpilibj
Class Timer
- java.lang.Object
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- edu.wpi.first.wpilibj.Timer
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public class Timer extends Object
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Constructor Summary
Constructors Constructor Description Timer()
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description static void
delay(double seconds)
Pause the thread for a specified time.double
get()
Get the current time from the timer.static double
getFPGATimestamp()
Return the system clock time in seconds.static double
getMatchTime()
Return the approximate match time.boolean
hasPeriodPassed(double period)
Check if the period specified has passed and if it has, advance the start time by that period.void
reset()
Reset the timer by setting the time to 0.void
start()
Start the timer running.void
stop()
Stop the timer.
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Method Detail
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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.
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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
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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
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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
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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
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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.
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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.
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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.
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