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Added timing functionality to paths

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This commit is contained in:
Aarav Shah
2021-02-12 14:15:18 -07:00
parent b22724c49f
commit b5726bfe4a
1 changed files with 8 additions and 0 deletions
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src/main/java/frc4388/robot/Robot.java
+8
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@@ -26,6 +26,9 @@ public class Robot extends TimedRobot {
Command m_autonomousCommand;
private RobotContainer m_robotContainer;
double m_initialTime;
double m_currentTime;
double m_deltaTime;
/**
* This function is run when the robot is first started up and should be
@@ -85,6 +88,8 @@ public class Robot extends TimedRobot {
m_robotContainer.setDriveNeutralMode(NeutralMode.Brake);
m_robotContainer.setDriveGearState(true);
m_initialTime = System.currentTimeMillis();
//m_robotContainer.resetGyroYawRobotContainer(0);
//m_robotContainer.configDriveTrainSensors(FeedbackDevice.IntegratedSensor);
@@ -108,6 +113,9 @@ public class Robot extends TimedRobot {
*/
@Override
public void autonomousPeriodic() {
m_currentTime = System.currentTimeMillis();
m_deltaTime = m_currentTime - m_initialTime;
SmartDashboard.putNumber("Auto Path Time", (m_deltaTime)/1000);
}
@Override