[hal,wpilib] Update MatchTime docs for teleop and auto mode (NFC) (#8606)

Update Timer and JNI MatchTime functions to latest docs

hal/src/main/java/edu/wpi/first/hal/DriverStationJNI.java

@@ -308,16 +308,19 @@ public class DriverStationJNI extends JNIWrapper {
   public static native int getJoystickAxisType(byte joystickNum, byte axis);
 
   /**
-   * Returns the approximate match time.
+   * 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).
    *
-   * <p>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).
+   * <p>When connected to the real field, this number only changes in full integer increments, and
+   * always counts down.
    *
-   * <p>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).
+   * <p>When the DS is in practice mode, this number is a floating point number, and counts down.
    *
-   * <p>The Practice Match function of the DS approximates the behavior seen on the field.
+   * <p>When the DS is in teleop or autonomous mode, this number returns -1.0.
+   *
+   * <p>Simulation matches DS behavior without an FMS connected.
    *
    * @return time remaining in current match period (auto or teleop)
    * @see "HAL_GetMatchTime"

hal/src/main/native/include/hal/DriverStation.h

@@ -187,8 +187,7 @@ int32_t HAL_SetJoystickOutputs(int32_t joystickNum, int64_t outputs,
  * <p>When the DS is in practice mode, this number is a floating point number,
  * and counts down.
  *
- * <p>When the DS is in teleop or autonomous mode, this number is a floating
- * point number, and counts up.
+ * <p>When the DS is in teleop or autonomous mode, this number returns -1.0.
  *
  * <p>Simulation matches DS behavior without an FMS connected.
  *

wpilibc/src/main/native/include/frc/DriverStation.h

@@ -339,8 +339,7 @@ class DriverStation final {
    * <p>When the DS is in practice mode, this number is a floating point number,
    * and counts down.
    *
-   * <p>When the DS is in teleop or autonomous mode, this number is a floating
-   * point number, and counts up.
+   * <p>When the DS is in teleop or autonomous mode, this number returns -1.0.
    *
    * <p>Simulation matches DS behavior without an FMS connected.
    *

wpilibc/src/main/native/include/frc/Timer.h

@@ -139,19 +139,23 @@ class Timer {
   static units::second_t GetFPGATimestamp();
 
   /**
-   * 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).
-   *
+   * 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.
+   * <p>When connected to the real field, this number only changes in full
+   * integer increments, and always counts down.
    *
-   * @return Time remaining in current match period (auto or teleop)
+   * <p>When the DS is in practice mode, this number is a floating point number,
+   * and counts down.
+   *
+   * <p>When the DS is in teleop or autonomous mode, this number returns -1.0.
+   *
+   * <p>Simulation matches DS behavior without an FMS connected.
+   *
+   * @return Time remaining in current match period (auto or teleop) in seconds
    */
   static units::second_t GetMatchTime();
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java

@@ -1182,8 +1182,7 @@ public final class DriverStation {
    *
    * <p>When the DS is in practice mode, this number is a floating point number, and counts down.
    *
-   * <p>When the DS is in teleop or autonomous mode, this number is a floating point number, and
-   * counts up.
+   * <p>When the DS is in teleop or autonomous mode, this number returns -1.0.
    *
    * <p>Simulation matches DS behavior without an FMS connected.
    *

wpilibj/src/main/java/edu/wpi/first/wpilibj/Timer.java

@@ -40,8 +40,16 @@ public class Timer {
    * 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.
+   * dispute ref calls or guarantee that a function will trigger before the match ends).
+   *
+   * <p>When connected to the real field, this number only changes in full integer increments, and
+   * always counts down.
+   *
+   * <p>When the DS is in practice mode, this number is a floating point number, and counts down.
+   *
+   * <p>When the DS is in teleop or autonomous mode, this number returns -1.0.
+   *
+   * <p>Simulation matches DS behavior without an FMS connected.
    *
    * @return Time remaining in current match period (auto or teleop) in seconds
    */