Wirtek Robotics Workshop / RWR_Utils

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Diff: RWR_Utils.cpp

Revision:
6:66889ef7193a
Parent:
5:6cd52beadb7c
Child:
8:7433f35f0338
--- a/RWR_Utils.cpp	Sat Jul 24 14:46:20 2021 +0300
+++ b/RWR_Utils.cpp	Sat Jul 24 22:30:13 2021 +0300
@@ -139,3 +139,26 @@
   // return line position as a float between -1.0 (left) and 1.0 (right)
   return returnValue;
 }
+
+TimerWrapper::TimerWrapper(Timer &_timer):
+  timer(_timer),
+  lastReset(0)
+{
+  timer.start();
+  lastReset = timer.read_us();
+}
+
+int32_t TimerWrapper::read_ms()
+{
+  return (timer.read_us() - lastReset) / 1000;
+}
+
+int32_t TimerWrapper::read_us()
+{
+  return timer.read_us() - lastReset;
+}
+
+void TimerWrapper::reset()
+{
+  lastReset = timer.read_us();
+}