Class Utils

java.lang.Object
com.ctre.phoenix6.Utils
public final class Utils extends Object
Utility functions for Phoenix 6.

  • Constructor Details

  • Method Details

    • getCurrentTime

      public static Time getCurrentTime()
      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

      public static double 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

    • getMonotonicTime

      public static Time getMonotonicTime()
      Get the system monotonic timestamp.

      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 monotonic time

    • getMonotonicTimeSeconds

      public static double getMonotonicTimeSeconds()
      Get the system monotonic 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 monotonic time in seconds

    • isSimulation

      public static boolean isSimulation()
      Get whether the program is running in simulation.
      Returns:
      true if in simulation

    • isReplay

      public static boolean isReplay()
      Get whether the program is running in replay mode.
      Returns:
      true if in replay mode