Create RobotTime

To keep track of deltas, frames, and times. Need it for completing pigeon gyro rates.

src/main/java/frc4388/robot/Robot.java

@@ -10,6 +10,7 @@ package frc4388.robot;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import frc4388.utility.RobotTime;
 
 /**
  * The VM is configured to automatically run this class, and to call the
@@ -44,6 +45,7 @@ public class Robot extends TimedRobot {
    */
   @Override
   public void robotPeriodic() {
+    RobotTime.updateTimes();
     // Runs the Scheduler.  This is responsible for polling buttons, adding newly-scheduled
     // commands, running already-scheduled commands, removing finished or interrupted commands,
     // and running subsystem periodic() methods.  This must be called from the robot's periodic
@@ -58,6 +60,7 @@ public class Robot extends TimedRobot {
    */
   @Override
   public void disabledInit() {
+    RobotTime.endMatchTime();
   }
 
   @Override
@@ -82,6 +85,7 @@ public class Robot extends TimedRobot {
     if (m_autonomousCommand != null) {
       m_autonomousCommand.schedule();
     }
+    RobotTime.startMatchTime();
   }
 
   /**
@@ -100,6 +104,7 @@ public class Robot extends TimedRobot {
     if (m_autonomousCommand != null) {
       m_autonomousCommand.cancel();
     }
+    RobotTime.startMatchTime();
   }
 
   /**