frc::Timer Class Reference

A timer class. More...

#include <frc/Timer.h>

Public Member Functions
	Timer ()
	Create a new timer object. More...
virtual	~Timer ()=default
	Timer (const Timer &)=default
Timer &	operator= (const Timer &)=default
	Timer (Timer &&)=default
Timer &	operator= (Timer &&)=default
units::second_t	Get () const
	Get the current time from the timer. More...
void	Reset ()
	Reset the timer by setting the time to 0. More...
void	Start ()
	Start the timer running. More...
void	Restart ()
	Restart the timer by stopping the timer, if it is not already stopped, resetting the accumulated time, then starting the timer again. More...
void	Stop ()
	Stop the timer. More...
bool	HasElapsed (units::second_t period) const
	Check if the period specified has passed. More...
bool	AdvanceIfElapsed (units::second_t period)
	Check if the period specified has passed and if it has, advance the start time by that period. More...

Static Public Member Functions
static units::second_t	GetFPGATimestamp ()
	Return the FPGA system clock time in seconds. More...
static units::second_t	GetMatchTime ()
	Return the approximate match time. More...

Detailed Description

A timer class.

Note that if the user calls frc::sim::RestartTiming(), they should also reset the timer so Get() won't return a negative duration.

Constructor & Destructor Documentation

Timer() [1/3]

frc::Timer::Timer

(

)

Create a new timer object.

Create a new timer object and reset the time to zero. The timer is initially not running and must be started.

~Timer()

virtual frc::Timer::~Timer ( )

virtualdefault

Timer() [2/3]

frc::Timer::Timer ( const Timer &  )

default

Timer() [3/3]

frc::Timer::Timer ( Timer &&  )

default

Member Function Documentation

AdvanceIfElapsed()

bool frc::Timer::AdvanceIfElapsed

(

units::second_t

period

)

Check if the period specified has passed and if it has, advance the start time by that period.

This is useful to decide if it's time to do periodic work without drifting later by the time it took to get around to checking.

Parameters

period

The period to check for.

Returns

True if the period has passed.

Get()

units::second_t frc::Timer::Get

(

)

const

Get the current time from the timer.

If the clock is running it is derived from the current system clock the start time stored in the timer class. If the clock is not running, then return the time when it was last stopped.

Returns

Current time value for this timer in seconds

GetFPGATimestamp()

static units::second_t frc::Timer::GetFPGATimestamp ( )

static

Return the FPGA system clock time in seconds.

Return the time from the FPGA hardware clock in seconds since the FPGA started. Rolls over after 71 minutes.

Returns

Robot running time in seconds.

GetMatchTime()

static units::second_t frc::Timer::GetMatchTime ( )

static

Return the approximate match time.

The FMS does not send an official match time to the robots, but does send an approximate match time. The value will count down the time remaining in the current period (auto or teleop).

Warning: This is not an official time (so it cannot be used to dispute ref calls or guarantee that a function will trigger before the match ends).

The Practice Match function of the DS approximates the behavior seen on the field.

Returns

Time remaining in current match period (auto or teleop)

HasElapsed()

bool frc::Timer::HasElapsed

(

units::second_t

period

)

const

Check if the period specified has passed.

Parameters

period

The period to check.

Returns

True if the period has passed.

operator=() [1/2]

Timer & frc::Timer::operator= ( const Timer &  )

default

operator=() [2/2]

Timer & frc::Timer::operator= ( Timer &&  )

default

Reset()

void frc::Timer::Reset

(

)

Reset the timer by setting the time to 0.

Make the timer startTime the current time so new requests will be relative to now.

Restart()

void frc::Timer::Restart

(

)

Restart the timer by stopping the timer, if it is not already stopped, resetting the accumulated time, then starting the timer again.

If you want an event to periodically reoccur at some time interval from the start time, consider using AdvanceIfElapsed() instead.

Start()

void frc::Timer::Start

(

)

Start the timer running.

Just set the running flag to true indicating that all time requests should be relative to the system clock. Note that this method is a no-op if the timer is already running.

Stop()

void frc::Timer::Stop

(

)

Stop the timer.

This computes the time as of now and clears the running flag, causing all subsequent time requests to be read from the accumulated time rather than looking at the system clock.

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The documentation for this class was generated from the following file:

• frc/Timer.h