From a4295275ed5479c164276076d5fc51a69dd3fc49 Mon Sep 17 00:00:00 2001
From: Gold856 <117957790+Gold856@users.noreply.github.com>
Date: Sun, 13 Apr 2025 18:08:00 -0400
Subject: [PATCH] Use Timer object to calculate FPS

---
 .../vision/pipe/impl/CalculateFPSPipe.java          | 13 +++----------
 1 file changed, 3 insertions(+), 10 deletions(-)

diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/CalculateFPSPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/CalculateFPSPipe.java
index b840e6602..f1814a031 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/CalculateFPSPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/CalculateFPSPipe.java
@@ -24,19 +24,12 @@ import org.photonvision.vision.pipe.CVPipe;
 public class CalculateFPSPipe
         extends CVPipe<Void, Integer, CalculateFPSPipe.CalculateFPSPipeParams> {
     private final LinearFilter fpsFilter = LinearFilter.movingAverage(20);
-
-    // roll my own Timer, since this is so trivial
-    double lastTime = -1;
+    private final Timer timer = new Timer();
 
     @Override
     protected Integer process(Void in) {
-        if (lastTime < 0) {
-            lastTime = Timer.getFPGATimestamp();
-        }
-
-        var now = Timer.getFPGATimestamp();
-        var dtSeconds = now - lastTime;
-        lastTime = now;
+        var dtSeconds = timer.get();
+        timer.reset();
 
         // If < 1 uS between ticks, something is probably wrong
         int fps;