We have the wallclock code to operate Timer 1 from
here running on our robot. I won't really say use, because it was going to be used to send the robot into different states (End of autonomous, not enough time left to score, so on) during autonomous, but that code was removed due to difficulties with the feedback system. It'll probably end up being used in autonomous at Palmetto for, at the very least, deploying the robot into scoring mode during autonomous. (Ideally, depending on how busy the practice field is, we'd like to get some scoring going with dead reckoning, but that is far less likely)