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[wpimath] Add timestamp getter to MathShared (#5091)

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This makes it possible to mock the timestamp for wpimath without affecting the rest of the library.

Co-authored-by: Peter Johnson <johnson.peter@gmail.com>
This commit is contained in:
Jonah
2023-02-17 17:53:17 -05:00
committed by GitHub
parent 9cc14bbb43
commit e9a7bed988
16 changed files with 76 additions and 21 deletions
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6
wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
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@@ -16,6 +16,7 @@ import edu.wpi.first.math.MathSharedStore;
import edu.wpi.first.math.MathUsageId;
import edu.wpi.first.networktables.MultiSubscriber;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.util.WPIUtilJNI;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.util.WPILibVersion;
@@ -128,6 +129,11 @@ public abstract class RobotBase implements AutoCloseable {
break;
}
}
@Override
public double getTimestamp() {
return WPIUtilJNI.now() * 1.0e-6;
}
});
}