Timer

class wpilib.Timer

Bases: pybind11_object

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.

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(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() → 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(period: seconds) → bool

Check if the period specified has passed.

Parameters:

period – The period to check.

Returns:

True if the period has passed.

reset() → 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.

restart() → None

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() → 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() → 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.