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[wpilib] Add timestamp getters with configurable time base (#7378)

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This commit is contained in:
Jonah Bonner
2024-11-16 10:43:38 -05:00
committed by GitHub
parent 91142ba5fe
commit ca51197486
27 changed files with 180 additions and 53 deletions
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8
wpilibj/src/main/java/edu/wpi/first/wpilibj/LEDPattern.java
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@@ -191,7 +191,7 @@ public interface LEDPattern {
return (reader, writer) -> {
int bufLen = reader.getLength();
long now = WPIUtilJNI.now();
long now = RobotController.getTime();
// index should move by (buf.length) / (period)
double t = (now % (long) periodMicros) / periodMicros;
@@ -242,7 +242,7 @@ public interface LEDPattern {
return (reader, writer) -> {
int bufLen = reader.getLength();
long now = WPIUtilJNI.now();
long now = RobotController.getTime();
// every step in time that's a multiple of microsPerLED will increment the offset by 1
var offset = now / microsPerLED;
@@ -271,7 +271,7 @@ public interface LEDPattern {
final long onTimeMicros = (long) onTime.in(Microseconds);
return (reader, writer) -> {
if (WPIUtilJNI.now() % totalTimeMicros < onTimeMicros) {
if (RobotController.getTime() % totalTimeMicros < onTimeMicros) {
applyTo(reader, writer);
} else {
kOff.applyTo(reader, writer);
@@ -323,7 +323,7 @@ public interface LEDPattern {
reader,
(i, r, g, b) -> {
// How far we are in the cycle, in the range [0, 1)
double t = (WPIUtilJNI.now() % periodMicros) / (double) periodMicros;
double t = (RobotController.getTime() % periodMicros) / (double) periodMicros;
double phase = t * 2 * Math.PI;
// Apply the cosine function and shift its output from [-1, 1] to [0, 1]