mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
4b76adf15b
If the 64 bit FPGA timer rolls over, a 32 bit value is added for the rollover, an artifact of when it was a 32 bit timer. The 64 bit microsecond timer won't rollover for 500k years so remove the check for simplicity. Fixes #2504
49 lines
1.3 KiB
C++
49 lines
1.3 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) 2008-2020 FIRST. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
|
/* the project. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#include "frc/Timer.h"
|
|
|
|
#include <chrono>
|
|
#include <thread>
|
|
|
|
#include <hal/FRCUsageReporting.h>
|
|
|
|
#include "frc/DriverStation.h"
|
|
#include "frc/RobotController.h"
|
|
|
|
namespace frc {
|
|
|
|
void Wait(double seconds) { frc2::Wait(units::second_t(seconds)); }
|
|
|
|
double GetTime() { return frc2::GetTime().to<double>(); }
|
|
|
|
} // namespace frc
|
|
|
|
using namespace frc;
|
|
|
|
Timer::Timer() { Reset(); }
|
|
|
|
double Timer::Get() const { return m_timer.Get().to<double>(); }
|
|
|
|
void Timer::Reset() { m_timer.Reset(); }
|
|
|
|
void Timer::Start() { m_timer.Start(); }
|
|
|
|
void Timer::Stop() { m_timer.Stop(); }
|
|
|
|
bool Timer::HasPeriodPassed(double period) {
|
|
return m_timer.HasPeriodPassed(units::second_t(period));
|
|
}
|
|
|
|
double Timer::GetFPGATimestamp() {
|
|
return frc2::Timer::GetFPGATimestamp().to<double>();
|
|
}
|
|
|
|
double Timer::GetMatchTime() {
|
|
return frc2::Timer::GetMatchTime().to<double>();
|
|
}
|