Timer

class wpilib.Timer(self: wpilib.Timer) → None

Bases: pybind11_builtins.pybind11_object

A wrapper for the frc::Timer class that returns unit-typed values.

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.

advanceIfElapsed(self: wpilib.Timer, period: seconds) → bool

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(self: wpilib.Timer) → seconds

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

static getFPGATimestamp() → seconds

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.

static getMatchTime() → seconds

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(self: wpilib.Timer, period: seconds) → bool

Check if the period specified has passed.

Parameters

seconds – The period to check.

Returns

True if the period has passed.

hasPeriodPassed(self: wpilib.Timer, period: seconds) → bool

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.

reset(self: wpilib.Timer) → None

Reset the timer by setting the time to 0.

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

start(self: wpilib.Timer) → None

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(self: wpilib.Timer) → None

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.