edu.wpi.first.wpilibj.Timer Class Reference

Public Member Functions
	Timer ()
double	get ()
final void	reset ()
void	start ()
void	restart ()
void	stop ()
boolean	hasElapsed (double seconds)
boolean	advanceIfElapsed (double seconds)

Static Public Member Functions
static double	getFPGATimestamp ()
static double	getMatchTime ()
static void	delay (final double seconds)

Detailed Description

A timer class.

Note that if the user calls SimHooks.restartTiming(), they should also reset the timer so get() won't return a negative duration.

Constructor & Destructor Documentation

Timer()

edu.wpi.first.wpilibj.Timer.Timer

(

)

Timer constructor.

Member Function Documentation

advanceIfElapsed()

boolean edu.wpi.first.wpilibj.Timer.advanceIfElapsed

(

double

seconds

)

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

seconds

The period to check.

Returns

Whether the period has passed.

delay()

static void edu.wpi.first.wpilibj.Timer.delay ( final double seconds )

static

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()

double edu.wpi.first.wpilibj.Timer.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

getFPGATimestamp()

static double edu.wpi.first.wpilibj.Timer.getFPGATimestamp ( )

static

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()

static double edu.wpi.first.wpilibj.Timer.getMatchTime ( )

static

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 behavior seen on the field.

Returns

Time remaining in current match period (auto or teleop) in seconds

hasElapsed()

boolean edu.wpi.first.wpilibj.Timer.hasElapsed

(

double

seconds

)

Check if the period specified has passed.

Parameters

seconds

The period to check.

Returns

Whether the period has passed.

reset()

final void edu.wpi.first.wpilibj.Timer.reset

(

)

Reset the timer by setting the time to 0.

Make the timer startTime the current time so new requests will be relative now.

restart()

void edu.wpi.first.wpilibj.Timer.restart

(

)

Restart the timer by stopping the timer, if it is not already stopped, resetting the accumulated time, then starting the timer again. If you want an event to periodically reoccur at some time interval from the start time, consider using advanceIfElapsed() instead.

start()

void edu.wpi.first.wpilibj.Timer.start

(

)

Start the timer running. Just set the running flag to true indicating that all time requests should be relative to the system clock. Note that this method is a no-op if the timer is already running.

stop()

void edu.wpi.first.wpilibj.Timer.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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The documentation for this class was generated from the following file:

• D:/SDASVN/2024/RaspberryPi/VSCode/Source/edu/wpi/first/wpilibj/Timer.java