edu.wpi.first.wpilibj
Class Timer

java.lang.Object
  edu.wpi.first.wpilibj.Timer

All Implemented Interfaces:

IDevice, IUtility

public class Timer
extends java.lang.Object
implements IUtility

Timer objects measure accumulated time in milliseconds. The timer object functions like a stopwatch. It can be started, stopped, and cleared. When the timer is running its value counts up in milliseconds. When stopped, the timer holds the current value. The implementation simply records the time when started and subtracts the current time whenever the value is requested.

Constructor Summary

Timer()
Create a new timer object.

Method Summary

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 long	getUsClock() Deprecated. Use getFPGATimestamp instead.
void	reset() Reset the timer by setting the time to 0.
void	start() Start the timer running.
void	stop() Stop the timer.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

Timer

public Timer()

Create a new timer object. Create a new timer object and reset the time to zero. The timer is initially not running and must be started.

Method Detail

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

getUsClock

public static long getUsClock()

Deprecated. Use getFPGATimestamp instead.

Return the system clock time in microseconds. Return the time from the FPGA hardware clock in microseconds since the FPGA started.

Returns:

Robot running time in microseconds.

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.

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.