commit 20177c9e85b7a1d38db7b0be6633b65c298039af
author Austin Schuh <austin.linux@gmail.com> Sun Jul 07 20:48:24 2019 -0700
committer Austin Schuh <austin.linux@gmail.com> Sat Aug 10 19:33:36 2019 -0700
tree bda2473b4cfc2ccb459e67be7cea14893b98a585
parent 9271536ce2f0e4c52c4eca8e624d6353331242cc

Convert y2018 to use event loop time

Change-Id: Id695b94dc7877b51ac7898f333fe8152faa7600b

y2018/control_loops/superstructure/arm/arm.cc

diff --git a/y2018/control_loops/superstructure/arm/arm.cc b/y2018/control_loops/superstructure/arm/arm.cc
index f3f58f8..d3cb262 100644
--- a/y2018/control_loops/superstructure/arm/arm.cc
+++ b/y2018/control_loops/superstructure/arm/arm.cc
@@ -44,7 +44,8 @@
 
 void Arm::Reset() { state_ = State::UNINITIALIZED; }
 
-void Arm::Iterate(const uint32_t *unsafe_goal, bool grab_box, bool open_claw,
+void Arm::Iterate(const ::aos::monotonic_clock::time_point monotonic_now,
+                  const uint32_t *unsafe_goal, bool grab_box, bool open_claw,
                   bool close_claw, const control_loops::ArmPosition *position,
                   const bool claw_beambreak_triggered,
                   const bool box_back_beambreak_triggered,
@@ -261,7 +262,7 @@
         if (claw_beambreak_triggered) {
           grab_state_ = GrabState::CLAW_CLOSE;
           // Snap time for the delay here.
-          claw_close_start_time_ = ::aos::monotonic_clock::now();
+          claw_close_start_time_ = monotonic_now;
         } else {
           grab_state_ = GrabState::SHORT_BOX;
         }
@@ -275,14 +276,14 @@
         if (claw_beambreak_triggered) {
           grab_state_ = GrabState::CLAW_CLOSE;
           // Snap time for the delay here.
-          claw_close_start_time_ = ::aos::monotonic_clock::now();
+          claw_close_start_time_ = monotonic_now;
         } else {
           grab_state_ = GrabState::WAIT_FOR_BOX;
         }
       }
       break;
     case GrabState::CLAW_CLOSE:
-      if (::aos::monotonic_clock::now() >
+      if (monotonic_now >
           claw_close_start_time_ + ::std::chrono::milliseconds(300)) {
         grab_state_ = GrabState::OPEN_INTAKE;
       }

y2018/control_loops/superstructure/arm/arm.h

diff --git a/y2018/control_loops/superstructure/arm/arm.h b/y2018/control_loops/superstructure/arm/arm.h
index 0a4666a..8cd6b39 100644
--- a/y2018/control_loops/superstructure/arm/arm.h
+++ b/y2018/control_loops/superstructure/arm/arm.h
@@ -34,13 +34,13 @@
   static constexpr double kPathlessVMax() { return 5.0; }
   static constexpr double kGotoPathVMax() { return 6.0; }
 
-  void Iterate(const uint32_t *unsafe_goal, bool grab_box, bool open_claw,
+  void Iterate(const ::aos::monotonic_clock::time_point monotonic_now,
+               const uint32_t *unsafe_goal, bool grab_box, bool open_claw,
                bool close_claw, const control_loops::ArmPosition *position,
                const bool claw_beambreak_triggered,
                const bool box_back_beambreak_triggered,
-               const bool intake_clear_of_box,
-               bool suicide, bool trajectory_override,
-               double *proximal_output,
+               const bool intake_clear_of_box, bool suicide,
+               bool trajectory_override, double *proximal_output,
                double *distal_output, bool *release_arm_brake,
                bool *claw_closed, control_loops::ArmStatus *status);