Add measure getter

wpilibsuite · Nov 15, 2024 · 5fd17bb · 5fd17bb
1 parent 637a61d
commit 5fd17bb
Showing 1 changed file with 11 additions and 0 deletions.
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotController.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotController.java
@@ -100,6 +100,17 @@ public static long getTime() {
     return m_timeSource.getAsLong();
   }
 
+  /**
+   * Read the microsecond timestamp. By default, the time is based on the FPGA hardware clock in
+   * microseconds since the FPGA started. However, the return value of this method may be modified
+   * to use any time base, including non-monotonic and non-continuous time bases.
+   *
+   * @return The current time in a measure.
+   */
+  public static Time getMeasureTime() {
+    return Microseconds.of(m_timeSource.getAsLong());
+  }
+
   /**
    * Read the microsecond timer from the FPGA.
    *