Make a DurationInSeconds function
Also, run clang-format on all the files I changed because I am too lazy
to figure out how to call clang-format on just the lines I changed.
Change-Id: I071c6f81dced533a0a269f25a258348132a7056a
diff --git a/frc971/control_loops/profiled_subsystem.h b/frc971/control_loops/profiled_subsystem.h
index ef5ffde..53c729d 100644
--- a/frc971/control_loops/profiled_subsystem.h
+++ b/frc971/control_loops/profiled_subsystem.h
@@ -265,9 +265,7 @@
status->voltage_error = this->X_hat(2, 0);
status->calculated_velocity =
(position() - last_position_) /
- ::std::chrono::duration_cast<::std::chrono::duration<double>>(
- ::aos::controls::kLoopFrequency)
- .count();
+ ::aos::time::DurationInSeconds(::aos::controls::kLoopFrequency);
status->estimator_state = this->EstimatorState(0);