Convert y2018 to use event loop time
Change-Id: Id695b94dc7877b51ac7898f333fe8152faa7600b
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);