Team4388/Robot-Essentials
1
0
Fork 0
mirror of https://github.com/Team4388/Robot-Essentials.git synced 2026-06-09 00:38:01 -06:00
Code Issues Packages Projects Releases Wiki Activity

Add basic getRate() functionallity for Pigeons

Browse Source
This commit is contained in:
Keenan D. Buckley
2020-03-27 12:32:46 -06:00
parent ecff989745
commit 4271a66d1a
3 changed files with 50 additions and 38 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/utility/RobotTime.java
+22 -22
View File
@@ -12,18 +12,18 @@ package frc4388.utility;
* <p>All times are in milliseconds
*/
public final class RobotTime {
private static long currTime = System.currentTimeMillis();
public static long deltaTime = 0;
private static long m_currTime = System.currentTimeMillis();
public static long m_deltaTime = 0;
private static long startRobotTime = currTime;
public static long robotTime = 0;
public static long lastRobotTime = 0;
private static long m_startRobotTime = m_currTime;
public static long m_robotTime = 0;
public static long m_lastRobotTime = 0;
private static long startMatchTime = 0;
public static long matchTime = 0;
public static long lastMatchTime = 0;
private static long m_startMatchTime = 0;
public static long m_matchTime = 0;
public static long m_lastMatchTime = 0;
public static long frameNumber = 0;
public static long m_frameNumber = 0;
/**
* This class should not be instantiated.
@@ -34,16 +34,16 @@ public final class RobotTime {
* Call this once per periodic loop.
*/
public static void updateTimes() {
lastRobotTime = robotTime;
lastMatchTime = matchTime;
m_lastRobotTime = m_robotTime;
m_lastMatchTime = m_matchTime;
currTime = System.currentTimeMillis();
robotTime = currTime - startRobotTime;
deltaTime = robotTime - lastRobotTime;
frameNumber++;
m_currTime = System.currentTimeMillis();
m_robotTime = m_currTime - m_startRobotTime;
m_deltaTime = m_robotTime - m_lastRobotTime;
m_frameNumber++;
if (matchTime != 0) {
matchTime = currTime - startMatchTime;
if (m_matchTime != 0) {
m_matchTime = m_currTime - m_startMatchTime;
}
}
@@ -51,9 +51,9 @@ public final class RobotTime {
* Call this in both the auto and periodic inits
*/
public static void startMatchTime() {
if (matchTime == 0) {
startMatchTime = currTime;
matchTime = 1;
if (m_matchTime == 0) {
m_startMatchTime = m_currTime;
m_matchTime = 1;
}
}
@@ -61,7 +61,7 @@ public final class RobotTime {
* Call this in disabled init
*/
public static void endMatchTime() {
startMatchTime = 0;
matchTime = 0;
m_startMatchTime = 0;
m_matchTime = 0;
}
}