This repository has been archived on 2020-09-21. You can view files and clone it, but cannot push or open issues or pull requests.
FRC2016-old/Robot2016/wpilib/cpp/current/include/Timer.h
Jason 6d0e75aa64 Added new Robot project using PWM drive train... Much simpler...
Signed-off-by: Jason <jason@dublinschool.org>
2016-02-09 16:23:45 -05:00

56 lines
1.6 KiB
C++

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2016. 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "Base.h"
#include "HAL/cpp/priority_mutex.h"
typedef void (*TimerInterruptHandler)(void *param);
void Wait(double seconds);
double GetClock();
double GetTime();
/**
* Timer objects measure accumulated time in seconds.
* The timer object functions like a stopwatch. It can be started, stopped, and
* cleared. When the
* timer is running its value counts up in seconds. When stopped, the timer
* holds the current
* value. The implementation simply records the time when started and subtracts
* the current time
* whenever the value is requested.
*/
class Timer {
public:
Timer();
virtual ~Timer() = default;
Timer(const Timer&) = delete;
Timer& operator=(const Timer&) = delete;
double Get() const;
void Reset();
void Start();
void Stop();
bool HasPeriodPassed(double period);
static double GetFPGATimestamp();
static double GetPPCTimestamp();
static double GetMatchTime();
// The time, in seconds, at which the 32-bit FPGA timestamp rolls over to 0
static const double kRolloverTime;
private:
double m_startTime = 0.0;
double m_accumulatedTime = 0.0;
bool m_running = false;
mutable priority_mutex m_mutex;
};