Create RobotTime

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

src/main/java/frc4388/utility/RobotTime.java

@@ -0,0 +1,67 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.utility;
+
+/**
+ * <p>Keeps track of Robot times like time passed, delta time, etc
+ * <p>All times are in milliseconds
+ */
+public final class RobotTime {
+    private static long currTime = System.currentTimeMillis();
+    public static long deltaTime = 0;
+
+    private static long startRobotTime = currTime;
+    public static long robotTime = 0;
+    public static long lastRobotTime = 0;
+
+    private static long startMatchTime = 0;
+    public static long matchTime = 0;
+    public static long lastMatchTime = 0;
+
+    public static long frameNumber = 0;
+
+    /**
+     * This class should not be instantiated.
+     */
+    private RobotTime(){}
+
+    /**
+     * Call this once per periodic loop.
+     */
+    public static void updateTimes() {
+        lastRobotTime = robotTime;
+        lastMatchTime = matchTime;
+
+        currTime = System.currentTimeMillis();
+        robotTime = currTime - startRobotTime;
+        deltaTime = robotTime - lastRobotTime;
+        frameNumber++;
+
+        if (matchTime != 0) {
+            matchTime = currTime - startMatchTime;
+        }
+    }
+
+    /**
+     * Call this in both the auto and periodic inits
+     */
+    public static void startMatchTime() {
+        if (matchTime == 0) {
+            startMatchTime = currTime;
+            matchTime = 1;
+        }
+    }
+
+    /**
+     * Call this in disabled init
+     */
+    public static void endMatchTime() {
+        startMatchTime = 0;
+        matchTime = 0;
+    }
+}