ctre::phoenix6::utils Namespace Reference

Functions
CTREXPORT double	GetCurrentTimeSeconds ()
	Get the current timestamp in seconds.
CTREXPORT double	GetSystemTimeSeconds ()
	Get the system timestamp in seconds.
CTREXPORT bool	IsSimulation ()
	Get whether the program is running in simulation.
CTREXPORT bool	IsReplay ()
	Get whether the program is running in replay mode.
units::second_t	GetCurrentTime ()
	Get the current timestamp.
units::second_t	GetSystemTime ()
	Get the system timestamp.
units::second_t	FPGAToCurrentTime (units::second_t fpgaTime)
	Converts an FPGA timestamp to the timebase reported by GetCurrentTime().

Function Documentation

FPGAToCurrentTime()

units::second_t ctre::phoenix6::utils::FPGAToCurrentTime ( units::second_t fpgaTime )

inline

Converts an FPGA timestamp to the timebase reported by GetCurrentTime().

Parameters

fpgaTime

The FPGA timestamp

Returns

The equivalent GetCurrentTime() timestamp

GetCurrentTime()

units::second_t ctre::phoenix6::utils::GetCurrentTime ( )

inline

Get the current timestamp.

This is the time source used for status signals.

This time source is typically continuous and monotonic. However, it may be overridden in simulation to use a non-monotonic, non-continuous source.

Returns

Current time

GetCurrentTimeSeconds()

CTREXPORT double ctre::phoenix6::utils::GetCurrentTimeSeconds

(

)

Get the current timestamp in seconds.

This is the time source used for status signals.

This time source is typically continuous and monotonic. However, it may be overridden in simulation to use a non-monotonic, non-continuous source.

Returns

Current time in seconds.

GetSystemTime()

units::second_t ctre::phoenix6::utils::GetSystemTime ( )

inline

Get the system timestamp.

This is NOT the time source used for status signals. Use GetCurrentTime instead when working with status signal timing.

This time source is guaranteed to be continuous and monotonic, making it useful for measuring time deltas in a robot program.

Returns

System time

GetSystemTimeSeconds()

CTREXPORT double ctre::phoenix6::utils::GetSystemTimeSeconds

(

)

Get the system timestamp in seconds.

This is NOT the time source used for status signals. Use GetCurrentTimeSeconds instead when working with status signal timing.

This time source is guaranteed to be continuous and monotonic, making it useful for measuring time deltas in a robot program.

Returns

System time in seconds.

IsReplay()

CTREXPORT bool ctre::phoenix6::utils::IsReplay

(

)

Get whether the program is running in replay mode.

Returns

true if in replay mode

IsSimulation()

CTREXPORT bool ctre::phoenix6::utils::IsSimulation

(

)

Get whether the program is running in simulation.

Returns

true if in simulation