commit 214e9c13fceeba7332cbccc8f9d6157b4576a1b5
author Austin Schuh <austin.linux@gmail.com> Fri Nov 25 17:26:20 2016 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Nov 26 13:00:10 2016 -0800
tree 878c1edbaf44e9424549f322f3c532184d412278
parent f5ab8d200dce62e9168b5e3145f759ce6af36df4

Converted trapezoid_profile over to monotonic_clock

This also involves updating all the callers, and updating
control_loop's frequency variable.

Change-Id: Ic88d2715db30efcc25721da2dd8c89910ede7788

y2015/control_loops/claw/claw.cc

diff --git a/y2015/control_loops/claw/claw.cc b/y2015/control_loops/claw/claw.cc
index e6ab9e7..ad8aaee 100644
--- a/y2015/control_loops/claw/claw.cc
+++ b/y2015/control_loops/claw/claw.cc
@@ -13,6 +13,7 @@
 namespace control_loops {
 
 using ::aos::time::Time;
+namespace chrono = ::std::chrono;
 
 constexpr double kZeroingVoltage = 4.0;
 
@@ -169,8 +170,9 @@
         SetClawOffset(claw_estimator_.offset());
       } else if (!disable) {
         claw_goal_velocity = claw_zeroing_velocity();
-        claw_goal_ +=
-            claw_goal_velocity * ::aos::controls::kLoopFrequency.ToSeconds();
+        claw_goal_ += claw_goal_velocity *
+                      chrono::duration_cast<chrono::duration<double>>(
+                          ::aos::controls::kLoopFrequency).count();
       }
 
       // Clear the current profile state if we are zeroing.

y2015/control_loops/fridge/fridge.cc

diff --git a/y2015/control_loops/fridge/fridge.cc b/y2015/control_loops/fridge/fridge.cc
index 083baf2..9f2241a 100644
--- a/y2015/control_loops/fridge/fridge.cc
+++ b/y2015/control_loops/fridge/fridge.cc
@@ -15,6 +15,8 @@
 namespace frc971 {
 namespace control_loops {
 
+namespace chrono = ::std::chrono;
+
 namespace {
 constexpr double kZeroingVoltage = 4.0;
 constexpr double kElevatorZeroingVelocity = 0.10;
@@ -333,7 +335,8 @@
           LOG(DEBUG, "Moving elevator to safe height.\n");
           if (elevator_goal_ < values.fridge.arm_zeroing_height) {
             elevator_goal_ += kElevatorSafeHeightVelocity *
-                              ::aos::controls::kLoopFrequency.ToSeconds();
+                              chrono::duration_cast<chrono::duration<double>>(
+                                  ::aos::controls::kLoopFrequency).count();
             elevator_goal_velocity_ = kElevatorSafeHeightVelocity;
             state_ = ZEROING_ELEVATOR;
           } else {
@@ -344,7 +347,8 @@
       } else if (!disable) {
         elevator_goal_velocity_ = elevator_zeroing_velocity();
         elevator_goal_ += elevator_goal_velocity_ *
-                          ::aos::controls::kLoopFrequency.ToSeconds();
+                          chrono::duration_cast<chrono::duration<double>>(
+                              ::aos::controls::kLoopFrequency).count();
       }
 
       // Bypass motion profiles while we are zeroing.
@@ -380,8 +384,9 @@
         LOG(DEBUG, "Zeroed the arm!\n");
       } else if (!disable) {
         arm_goal_velocity_ = arm_zeroing_velocity();
-        arm_goal_ +=
-            arm_goal_velocity_ * ::aos::controls::kLoopFrequency.ToSeconds();
+        arm_goal_ += arm_goal_velocity_ *
+                     chrono::duration_cast<chrono::duration<double>>(
+                         ::aos::controls::kLoopFrequency).count();
       }
 
       // Bypass motion profiles while we are zeroing.