Package edu.wpi.first.wpilibj

Class Timer

java.lang.Object
edu.wpi.first.wpilibj.Timer
public class Timer
extends java.lang.Object

  • Constructor Summary

    Constructors 
    Constructor Description
    Timer()  

  • Method Summary

    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.
    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.

    Methods inherited from class java.lang.Object

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

  • Constructor Details

  • Method Details

    • 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.

    • 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.