aos/common/control_loop/Timing=>aos/common/util/phased_loop
diff --git a/aos/common/util/phased_loop.h b/aos/common/util/phased_loop.h
new file mode 100644
index 0000000..d231449
--- /dev/null
+++ b/aos/common/util/phased_loop.h
@@ -0,0 +1,19 @@
+#ifndef AOS_COMMON_UTIL_PHASED_LOOP_H_
+#define AOS_COMMON_UTIL_PHASED_LOOP_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 // AOS_COMMON_UTIL_PHASED_LOOP_H_