Converted trapezoid_profile over to monotonic_clock
This also involves updating all the callers, and updating
control_loop's frequency variable.
Change-Id: Ic88d2715db30efcc25721da2dd8c89910ede7788
diff --git a/y2015/actors/pickup_actor.cc b/y2015/actors/pickup_actor.cc
index 0863ba6..4ae988e 100644
--- a/y2015/actors/pickup_actor.cc
+++ b/y2015/actors/pickup_actor.cc
@@ -92,7 +92,10 @@
::aos::time::Time end_time =
::aos::time::Time::Now() + aos::time::Time::InSeconds(params.intake_time);
while ( ::aos::time::Time::Now() <= end_time) {
- ::aos::time::PhasedLoopXMS(::aos::controls::kLoopFrequency.ToMSec(), 2500);
+ ::aos::time::PhasedLoopXMS(
+ ::std::chrono::duration_cast<::std::chrono::milliseconds>(
+ ::aos::controls::kLoopFrequency).count(),
+ 2500);
if (ShouldCancel()) return true;
}