Velocity PID Programming: Terms dependent on time

[Ether]

Originally Posted by kenfox

There are 3 ways to get a timestamp in the 2013 WPILib C++ code. All of them are black box calls into lower level code, so the information here comes from the comments. If I have time tomorrow I will test timing on the cRIO and cRIO-II.

I wonder:

1) how many layers of code are wrapped around each of these timers, and

2) can each one be used in a critical section, and

3) how long does each take to execute, and

4) is there anybody who has authoritative answers to these questions