Has WPI fixed the timing errors from 2015?

I recall timing errors with java in 2015 made it very hard for teams to use PID loops (the D part, mostly). Does anyone know if these have been fixed? I scanned over the wpilib website and found no information on this. :]

I don’t recall any timing errors other than built in scheduler functions being unable to resolve themselves properly because the RIO doesn’t keep time when turned off, and this hasn’t changed at all. What timing issues are you referring to? System.currentTimeMillis() works fine iirc

I think Ahad is referring to this:

The notifier class was added to java, but it doesn’t look like the PIDController class was updated to use it.