diff --git a/y2016/control_loops/shooter/shooter.cc b/y2016/control_loops/shooter/shooter.cc
index 6ae7f0e..08ab1be 100644
--- a/y2016/control_loops/shooter/shooter.cc
+++ b/y2016/control_loops/shooter/shooter.cc
@@ -8,7 +8,6 @@
 
 #include "y2016/control_loops/shooter/shooter_plant.h"
 
-
 namespace y2016 {
 namespace control_loops {
 namespace shooter {
@@ -37,9 +36,7 @@
   history_position_ = (history_position_ + 1) % kHistoryLength;
 }
 
-double ShooterSide::voltage() const {
-  return loop_->U(0, 0);
-}
+double ShooterSide::voltage() const { return loop_->U(0, 0); }
 
 void ShooterSide::Update(bool disabled) {
   loop_->mutable_R() = loop_->next_R();
@@ -60,8 +57,7 @@
   // Compute the distance moved over that time period.
   status->avg_angular_velocity =
       (history_[oldest_history_position] - history_[history_position_]) /
-      (chrono::duration_cast<chrono::duration<double>>(
-           ::aos::controls::kLoopFrequency).count() *
+      (::aos::time::DurationInSeconds(::aos::controls::kLoopFrequency) *
        static_cast<double>(kHistoryLength - 1));
 
   status->angular_velocity = loop_->X_hat(1, 0);
diff --git a/y2016/control_loops/superstructure/superstructure_lib_test.cc b/y2016/control_loops/superstructure/superstructure_lib_test.cc
index d0c4362..e7983f3 100644
--- a/y2016/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2016/control_loops/superstructure/superstructure_lib_test.cc
@@ -88,11 +88,12 @@
         pot_encoder_shoulder_(
             constants::Values::kShoulderEncoderIndexDifference),
         pot_encoder_wrist_(constants::Values::kWristEncoderIndexDifference),
-        superstructure_queue_(".y2016.control_loops.superstructure_queue",
-                              ".y2016.control_loops.superstructure_queue.goal",
-                              ".y2016.control_loops.superstructure_queue.position",
-                              ".y2016.control_loops.superstructure_queue.output",
-                              ".y2016.control_loops.superstructure_queue.status") {
+        superstructure_queue_(
+            ".y2016.control_loops.superstructure_queue",
+            ".y2016.control_loops.superstructure_queue.goal",
+            ".y2016.control_loops.superstructure_queue.position",
+            ".y2016.control_loops.superstructure_queue.output",
+            ".y2016.control_loops.superstructure_queue.status") {
     InitializeIntakePosition(0.0);
     InitializeShoulderPosition(0.0);
     InitializeRelativeWristPosition(0.0);
@@ -246,11 +247,12 @@
 class SuperstructureTest : public ::aos::testing::ControlLoopTest {
  protected:
   SuperstructureTest()
-      : superstructure_queue_(".y2016.control_loops.superstructure_queue",
-                              ".y2016.control_loops.superstructure_queue.goal",
-                              ".y2016.control_loops.superstructure_queue.position",
-                              ".y2016.control_loops.superstructure_queue.output",
-                              ".y2016.control_loops.superstructure_queue.status"),
+      : superstructure_queue_(
+            ".y2016.control_loops.superstructure_queue",
+            ".y2016.control_loops.superstructure_queue.goal",
+            ".y2016.control_loops.superstructure_queue.position",
+            ".y2016.control_loops.superstructure_queue.output",
+            ".y2016.control_loops.superstructure_queue.status"),
         superstructure_(&event_loop_),
         superstructure_plant_() {}
 
@@ -300,9 +302,8 @@
       double begin_wrist_velocity =
           superstructure_plant_.wrist_angular_velocity();
       RunIteration(enabled);
-      const double loop_time =
-          chrono::duration_cast<chrono::duration<double>>(
-              monotonic_clock::now() - loop_start_time).count();
+      const double loop_time = ::aos::time::DurationInSeconds(
+          monotonic_clock::now() - loop_start_time);
       const double shoulder_acceleration =
           (superstructure_plant_.shoulder_angular_velocity() -
            begin_shoulder_velocity) /
@@ -921,8 +922,8 @@
       superstructure_queue_.goal.MakeWithBuilder()
           .angle_intake(0.0)
           .angle_shoulder(
-               CollisionAvoidance::kMinShoulderAngleForIntakeUpInterference +
-               0.1)
+              CollisionAvoidance::kMinShoulderAngleForIntakeUpInterference +
+              0.1)
           .angle_wrist(0.0)
           .max_angular_velocity_intake(20)
           .max_angular_acceleration_intake(20)
@@ -941,8 +942,8 @@
       superstructure_queue_.goal.MakeWithBuilder()
           .angle_intake(0.0)
           .angle_shoulder(
-               CollisionAvoidance::kMinShoulderAngleForIntakeUpInterference +
-               0.1)
+              CollisionAvoidance::kMinShoulderAngleForIntakeUpInterference +
+              0.1)
           .angle_wrist(0.5)
           .max_angular_velocity_intake(1)
           .max_angular_acceleration_intake(1)
@@ -967,7 +968,7 @@
       superstructure_queue_.goal.MakeWithBuilder()
           .angle_intake(0.0)
           .angle_shoulder(
-               CollisionAvoidance::kMinShoulderAngleForIntakeUpInterference)
+              CollisionAvoidance::kMinShoulderAngleForIntakeUpInterference)
           .angle_wrist(0.0)
           .max_angular_velocity_intake(20)
           .max_angular_acceleration_intake(20)
@@ -986,7 +987,7 @@
       superstructure_queue_.goal.MakeWithBuilder()
           .angle_intake(0.5)
           .angle_shoulder(
-               CollisionAvoidance::kMinShoulderAngleForIntakeUpInterference)
+              CollisionAvoidance::kMinShoulderAngleForIntakeUpInterference)
           .angle_wrist(0.0)
           .max_angular_velocity_intake(4.5)
           .max_angular_acceleration_intake(800)
@@ -1051,8 +1052,8 @@
       superstructure_queue_.goal.MakeWithBuilder()
           .angle_intake(0.0)
           .angle_shoulder(
-               CollisionAvoidance::kMinShoulderAngleForIntakeUpInterference +
-               0.1)
+              CollisionAvoidance::kMinShoulderAngleForIntakeUpInterference +
+              0.1)
           .angle_wrist(0.0)
           .max_angular_velocity_intake(20)
           .max_angular_acceleration_intake(20)
@@ -1071,8 +1072,8 @@
       superstructure_queue_.goal.MakeWithBuilder()
           .angle_intake(0.0)
           .angle_shoulder(
-               CollisionAvoidance::kMinShoulderAngleForIntakeUpInterference +
-               0.1)
+              CollisionAvoidance::kMinShoulderAngleForIntakeUpInterference +
+              0.1)
           .angle_wrist(1.3)
           .max_angular_velocity_intake(1.0)
           .max_angular_acceleration_intake(1.0)
@@ -1139,7 +1140,7 @@
       superstructure_queue_.goal.MakeWithBuilder()
           .angle_intake(constants::Values::kIntakeRange.upper)  // stowed
           .angle_shoulder(M_PI / 2.0)  // in the collision area
-          .angle_wrist(M_PI)     // forward
+          .angle_wrist(M_PI)           // forward
           .Send());
 
   RunForTime(chrono::seconds(5));
@@ -1341,4 +1342,4 @@
 }  // namespace testing
 }  // namespace superstructure
 }  // namespace control_loops
-}  // namespace frc971
+}  // namespace y2016