edu.wpi.first.wpilibj

Class Timer

java.lang.Object

edu.wpi.first.wpilibj.Timer

public class Timer
extends java.lang.Object

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static interface	Timer.Interface
static interface	Timer.StaticInterface

Constructor Summary

Constructors

Constructor and Description
Timer()

Method Summary

Modifier and Type	Method and 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 The FMS does not currently send the official match time to the robots This returns the time since the enable signal sent from the Driver Station At the beginning of autonomous, the time is reset to 0.0 seconds At the beginning of teleop, the time is reset to +15.0 seconds If the robot is disabled, this returns 0.0 seconds Warning: This is not an official time (so it cannot be used to argue with referees).
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.
static void	SetImplementation(Timer.StaticInterface ti)
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()

Method Detail

SetImplementation

public static void SetImplementation(Timer.StaticInterface ti)

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 currently send the official match time to the robots This returns the time since the enable signal sent from the Driver Station At the beginning of autonomous, the time is reset to 0.0 seconds At the beginning of teleop, the time is reset to +15.0 seconds If the robot is disabled, this returns 0.0 seconds Warning: This is not an official time (so it cannot be used to argue with referees).

Returns:

Match time in seconds since the beginning of autonomous

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.