Timing

Timing is important when programming robot actions.

Examples:

• Waiting for a mechanism to move
• Adding delays between actions
• Running actions for a specific amount of time
• Creating autonomous sequences

sleep()

Thread.sleep() pauses the current thread.

Example:

sleep(1000);

This waits for:

1000 milliseconds = 1 second

Example:

claw.open();

sleep(500);

claw.close();

Problems with sleep()

Although useful, sleep() blocks your program.

During a sleep:

• The robot does not run other code
• Inputs are not checked
• Updates may be delayed

Avoid using long sleeps in TeleOp programs.

ElapsedTime

ElapsedTime tracks how much time has passed.

Create a timer:

ElapsedTime timer = new ElapsedTime();

Reset it:

timer.reset();

Read the time:

double time = timer.seconds();

Example:

timer.reset();

while (opModeIsActive()) {

    if (timer.seconds() > 2) {
        intake.stop();
    }

}

Timers in Autonomous

Timers are often used for sequencing actions.

Example:

if (timer.seconds() > 5) {
    shooter.start();
}

State Machines

Advanced FTC code often uses timers with states.

Example:

START
 ↓
MOVE_ARM
 ↓
WAIT
 ↓
DROP_OBJECT

Each state performs an action when certain conditions are met.

Avoid Blocking Code

Bad:

sleep(5000);

The robot does nothing for five seconds.

Better:

if (timer.seconds() > 5) {
    continueAction();
}

The program can continue running while waiting.

Key Takeaways

• Timing controls when actions happen.
• sleep() pauses your program.
• ElapsedTime tracks time without blocking.
• Timers are useful for autonomous and state machines.
• Avoid long blocking delays.