From c449ef106425b7618bf8626a6988c318e2a96c5e Mon Sep 17 00:00:00 2001
From: Thad House <ThadHouse@users.noreply.github.com>
Date: Mon, 24 Dec 2018 13:07:47 -0800
Subject: [PATCH] Unconditionally await in awaitUntil (#1499)

Negative numbers are properly handled, which will reduce chances of deadlocks.
---
 wpilibj/src/main/java/edu/wpi/first/wpilibj/Watchdog.java | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Watchdog.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Watchdog.java
index 45dbdca184..7397286561 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Watchdog.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Watchdog.java
@@ -276,9 +276,7 @@ public class Watchdog implements Closeable, Comparable<Watchdog> {
   private static boolean awaitUntil(Condition cond, long time) {
     long delta = time - RobotController.getFPGATime();
     try {
-      if (delta > 0) {
-        return cond.await(delta, TimeUnit.MICROSECONDS);
-      }
+      return cond.await(delta, TimeUnit.MICROSECONDS);
     } catch (InterruptedException ex) {
       Thread.currentThread().interrupt();
       ex.printStackTrace();