aos/common/control_loop/Timing=>aos/common/util/phased_loop
diff --git a/aos/common/control_loop/ControlLoop-tmpl.h b/aos/common/control_loop/ControlLoop-tmpl.h
index 6323df5..dde33c0 100644
--- a/aos/common/control_loop/ControlLoop-tmpl.h
+++ b/aos/common/control_loop/ControlLoop-tmpl.h
@@ -1,9 +1,9 @@
#include <stddef.h>
#include "aos/common/logging/logging.h"
-#include "aos/common/control_loop/Timing.h"
#include "aos/common/messages/robot_state.q.h"
#include "aos/common/logging/queue_logging.h"
+#include "aos/common/util/phased_loop.h"
#include "bbb/sensor_generation.q.h"
diff --git a/aos/common/control_loop/ControlLoop.h b/aos/common/control_loop/ControlLoop.h
index 0e5c144..8c0ab59 100644
--- a/aos/common/control_loop/ControlLoop.h
+++ b/aos/common/control_loop/ControlLoop.h
@@ -3,7 +3,6 @@
#include <cstring>
-#include "aos/common/control_loop/Timing.h"
#include "aos/common/type_traits.h"
#include "aos/common/queue.h"
#include "aos/common/time.h"
diff --git a/aos/common/control_loop/Timing.cpp b/aos/common/control_loop/Timing.cpp
deleted file mode 100644
index 8f42623..0000000
--- a/aos/common/control_loop/Timing.cpp
+++ /dev/null
@@ -1,20 +0,0 @@
-#include "aos/common/control_loop/Timing.h"
-
-#include <string.h>
-
-#include "aos/common/logging/logging.h"
-#include "aos/common/time.h"
-
-namespace aos {
-namespace time {
-
-void PhasedLoopXMS(int ms, int offset) {
- // TODO(brians): Tests!
- const Time frequency = Time::InMS(ms);
- SleepUntil((Time::Now() / static_cast<int32_t>(frequency.ToNSec())) *
- static_cast<int32_t>(frequency.ToNSec()) +
- frequency + Time::InUS(offset));
-}
-
-} // namespace timing
-} // namespace aos
diff --git a/aos/common/control_loop/Timing.h b/aos/common/control_loop/Timing.h
deleted file mode 100644
index 139376d..0000000
--- a/aos/common/control_loop/Timing.h
+++ /dev/null
@@ -1,19 +0,0 @@
-#ifndef __AOS_TIMEOUT_H_
-#define __AOS_TIMEOUT_H_
-
-#include <time.h>
-#include <string>
-
-namespace aos {
-namespace time {
-
-// Will not be accurate if ms isn't a factor of 1000.
-// offset is in us.
-void PhasedLoopXMS(int ms, int offset);
-// offset is in us.
-inline void PhasedLoop10MS(int offset) { PhasedLoopXMS(10, offset); }
-
-} // namespace time
-} // namespace aos
-
-#endif