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/y2016/control_loops/shooter/shooter.cc b/y2016/control_loops/shooter/shooter.cc
index 629b980..c9ee712 100644
--- a/y2016/control_loops/shooter/shooter.cc
+++ b/y2016/control_loops/shooter/shooter.cc
@@ -1,5 +1,7 @@
#include "y2016/control_loops/shooter/shooter.h"
+#include <chrono>
+
#include "aos/common/controls/control_loops.q.h"
#include "aos/common/logging/logging.h"
#include "aos/common/logging/queue_logging.h"
@@ -12,6 +14,7 @@
namespace shooter {
using ::aos::time::Time;
+namespace chrono = ::std::chrono;
// TODO(austin): Pseudo current limit?
@@ -57,7 +60,8 @@
// Compute the distance moved over that time period.
status->avg_angular_velocity =
(history_[oldest_history_position] - history_[history_position_]) /
- (::aos::controls::kLoopFrequency.ToSeconds() *
+ (chrono::duration_cast<chrono::duration<double>>(
+ ::aos::controls::kLoopFrequency).count() *
static_cast<double>(kHistoryLength - 1));
status->angular_velocity = loop_->X_hat(1, 0);