Package com.crossbotics.ftchelper.util

Class LoopTimer

java.lang.Object
com.crossbotics.ftchelper.util.LoopTimer
public final class LoopTimer extends Object
Measures how fast your OpMode loop runs.

A slow loop makes the robot feel laggy. Show getHz() on telemetry to see it. Most robots run at 50 to 200 loops per second (Hz). Under about 30 Hz, something is slow: see docs/guides/non-blocking.md, and Tutorial 06 (docs/tutorials/06-fast-clear-loop.md) for how to speed a loop up. 


 LoopTimer loopTimer = new LoopTimer();
 while (opModeIsActive()) {
     loopTimer.update();
     telemetry.addData("Loop", "%.0f Hz", loopTimer.getHz());
     ...
 }
Docs: docs/modules/util.md

  • Constructor Details

    • LoopTimer

      public LoopTimer()
      Makes a timer that uses the phone's clock.

    • LoopTimer

      public LoopTimer(LongSupplier clockNanos)
      Makes a timer with your own clock. Used by tests.
      Parameters:
      clockNanos - gives the time now, in nanoseconds

  • Method Details

    • update

      public double update()
      Call once at the top of each loop.
      Returns:
      seconds since the last call (0 on the first call)

    • getLastSeconds

      public double getLastSeconds()
      Seconds the last loop took.

    • getAverageMs

      public double getAverageMs()
      Average loop time in milliseconds (smoothed).

    • getHz

      public double getHz()
      Loops per second (smoothed). 0 until two loops have run.

    • reset

      public void reset()
      Starts over, as if new.