Robot.java 文件源码

@Override
public void robotPeriodic() {
  try {
    // measure total cycle time, time we take during robotPeriodic, and WPIlib overhead
    final long start = System.nanoTime();
    logger.trace("robotPeriodic()");
    Scheduler.getInstance().run();

    long currentNanos = System.nanoTime();

    if (currentNanos - nanosAtLastUpdate > RobotMap.SMARTDASHBOARD_UPDATE_RATE * 1000000000) {
      allSubsystems.forEach(this::tryToSendDataToSmartDashboard);
      nanosAtLastUpdate = currentNanos;
    }

    SmartDashboard.putNumber("cycleMillis", (currentNanos - prevNanos) / 1000000.0);
    SmartDashboard.putNumber("ourTime", (currentNanos - start) / 1000000.0);
    prevNanos = currentNanos;
  } catch (Throwable ex) {
    logger.error("robotPeriodic error", ex);
    ex.printStackTrace();
  }
}