diff --git a/aos/actions/actor.h b/aos/actions/actor.h
index fe6e425..b55b336 100644
--- a/aos/actions/actor.h
+++ b/aos/actions/actor.h
@@ -88,6 +88,10 @@
 
   ::aos::EventLoop *event_loop() { return event_loop_; }
 
+  ::aos::monotonic_clock::time_point monotonic_now() {
+    return event_loop_->monotonic_now();
+  }
+
  private:
   // Checks if an action was initially running when the thread started.
   bool CheckInitialRunning();
diff --git a/y2014/actors/autonomous_actor.cc b/y2014/actors/autonomous_actor.cc
index bb38269..76a037c 100644
--- a/y2014/actors/autonomous_actor.cc
+++ b/y2014/actors/autonomous_actor.cc
@@ -249,7 +249,7 @@
   static const double kPickupDistance = 0.5;
   static const double kTurnAngle = 0.3;
 
-  monotonic_clock::time_point start_time = monotonic_clock::now();
+  const monotonic_clock::time_point start_time = monotonic_now();
   LOG(INFO, "Handling auto mode\n");
 
   AutoVersion auto_version;
@@ -285,7 +285,7 @@
 
   // Turn the claw on, keep it straight up until the ball has been grabbed.
   LOG(INFO, "Claw going up at %f\n",
-      ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+      ::aos::time::DurationInSeconds(monotonic_now() - start_time));
   PositionClawVertically(12.0, 4.0);
   SetShotPower(115.0);
 
@@ -293,7 +293,7 @@
   this_thread::sleep_for(chrono::milliseconds(250));
   if (ShouldCancel()) return true;
   LOG(INFO, "Readying claw for shot at %f\n",
-      ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+      ::aos::time::DurationInSeconds(monotonic_now() - start_time));
 
   if (ShouldCancel()) return true;
   // Drive to the goal.
@@ -331,14 +331,14 @@
       hot_goal_decoder.Update();
       if (ShouldCancel()) return true;
     } while (!hot_goal_decoder.left_triggered() &&
-             (monotonic_clock::now() - start_time) < chrono::seconds(9));
+             (monotonic_now() - start_time) < chrono::seconds(9));
   } else if (auto_version == AutoVersion::kStraight) {
     this_thread::sleep_for(chrono::milliseconds(400));
   }
 
   // Shoot.
   LOG(INFO, "Shooting at %f\n",
-      ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+      ::aos::time::DurationInSeconds(monotonic_now() - start_time));
   Shoot();
   this_thread::sleep_for(chrono::milliseconds(50));
 
@@ -350,7 +350,7 @@
     if (ShouldCancel()) return true;
   } else if (auto_version == AutoVersion::kSingleHot) {
     LOG(INFO, "auto done at %f\n",
-        ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+        ::aos::time::DurationInSeconds(monotonic_now() - start_time));
     PositionClawVertically(0.0, 0.0);
     return true;
   }
@@ -359,21 +359,21 @@
     if (ShouldCancel()) return true;
     // Intake the new ball.
     LOG(INFO, "Claw ready for intake at %f\n",
-        ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+        ::aos::time::DurationInSeconds(monotonic_now() - start_time));
     PositionClawBackIntake();
     StartDrive(kShootDistance + kPickupDistance, 0.0, drive_params, kFastTurn);
     LOG(INFO, "Waiting until drivetrain is finished\n");
     WaitForDriveProfileDone();
     if (ShouldCancel()) return true;
     LOG(INFO, "Wait for the claw at %f\n",
-        ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+        ::aos::time::DurationInSeconds(monotonic_now() - start_time));
     if (!WaitUntilClawDone()) return true;
   }
 
   // Drive back.
   {
     LOG(INFO, "Driving back at %f\n",
-        ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+        ::aos::time::DurationInSeconds(monotonic_now() - start_time));
     StartDrive(-(kShootDistance + kPickupDistance), 0.0, drive_params,
                kFastTurn);
     this_thread::sleep_for(chrono::milliseconds(300));
@@ -411,7 +411,7 @@
   }
 
   LOG(INFO, "Shooting at %f\n",
-      ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+      ::aos::time::DurationInSeconds(monotonic_now() - start_time));
   // Shoot
   Shoot();
   if (ShouldCancel()) return true;
diff --git a/y2014_bot3/actors/autonomous_actor.cc b/y2014_bot3/actors/autonomous_actor.cc
index fac6d2f..1a25c55 100644
--- a/y2014_bot3/actors/autonomous_actor.cc
+++ b/y2014_bot3/actors/autonomous_actor.cc
@@ -30,7 +30,7 @@
 
 bool AutonomousActor::RunAction(
     const ::frc971::autonomous::AutonomousActionParams &params) {
-  monotonic_clock::time_point start_time = monotonic_clock::now();
+  const monotonic_clock::time_point start_time = monotonic_now();
   LOG(INFO, "Starting autonomous action with mode %" PRId32 "\n", params.mode);
   Reset();
 
@@ -38,10 +38,10 @@
   if (!WaitForDriveDone()) return true;
 
   LOG(INFO, "Done %f\n",
-      ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+      ::aos::time::DurationInSeconds(monotonic_now() - start_time));
 
   ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
-                                      event_loop()->monotonic_now(),
+                                      monotonic_now(),
                                       ::std::chrono::milliseconds(5) / 2);
   while (!ShouldCancel()) {
     phased_loop.SleepUntilNext();
diff --git a/y2016/actors/autonomous_actor.cc b/y2016/actors/autonomous_actor.cc
index 01650c4..a02362e 100644
--- a/y2016/actors/autonomous_actor.cc
+++ b/y2016/actors/autonomous_actor.cc
@@ -232,9 +232,8 @@
   ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
                                       event_loop()->monotonic_now(),
                                       ::std::chrono::milliseconds(5) / 2);
-  monotonic_clock::time_point end_time =
-      monotonic_clock::now() + align_duration;
-  while (end_time > monotonic_clock::now()) {
+  const monotonic_clock::time_point end_time = monotonic_now() + align_duration;
+  while (end_time > monotonic_now()) {
     if (ShouldCancel()) break;
 
     vision_status_fetcher_.Fetch();
@@ -573,7 +572,7 @@
 }
 
 void AutonomousActor::TwoBallAuto() {
-  monotonic_clock::time_point start_time = monotonic_clock::now();
+  const monotonic_clock::time_point start_time = monotonic_now();
   OpenShooter();
   MoveSuperstructure(0.10, -0.010, 0.0, {8.0, 60.0}, {4.0, 10.0}, {10.0, 25.0},
                      false, 12.0);
@@ -582,7 +581,7 @@
 
   WaitForIntake();
   LOG(INFO, "Intake done at %f seconds, starting to drive\n",
-      ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+      ::aos::time::DurationInSeconds(monotonic_now() - start_time));
   if (ShouldCancel()) return;
   const double kDriveDistance = 5.05;
   StartDrive(-kDriveDistance, 0.0, kTwoBallLowDrive, kSlowTurn);
@@ -597,12 +596,12 @@
     const bool ball_detected = ball_detector_fetcher_->voltage > 2.5;
     first_ball_there = ball_detected;
     LOG(INFO, "Saw the ball: %d at %f\n", first_ball_there,
-        ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+        ::aos::time::DurationInSeconds(monotonic_now() - start_time));
   }
   MoveSuperstructure(0.10, -0.010, 0.0, {8.0, 40.0}, {4.0, 10.0}, {10.0, 25.0},
                      false, 0.0);
   LOG(INFO, "Shutting off rollers at %f seconds, starting to straighten out\n",
-      ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+      ::aos::time::DurationInSeconds(monotonic_now() - start_time));
   StartDrive(0.0, -0.4, kTwoBallLowDrive, kSwerveTurn);
   MoveSuperstructure(-0.05, -0.010, 0.0, {8.0, 40.0}, {4.0, 10.0}, {10.0, 25.0},
                      false, 0.0);
@@ -622,7 +621,7 @@
 
   if (!WaitForDriveDone()) return;
   LOG(INFO, "First shot done driving at %f seconds\n",
-      ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+      ::aos::time::DurationInSeconds(monotonic_now() - start_time));
 
   WaitForSuperstructureProfile();
 
@@ -645,7 +644,7 @@
   }
 
   LOG(INFO, "First shot at %f seconds\n",
-      ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+      ::aos::time::DurationInSeconds(monotonic_now() - start_time));
   if (ShouldCancel()) return;
 
   SetShooterSpeed(0.0);
@@ -665,7 +664,7 @@
 
   if (!WaitForDriveNear(0.06, kDoNotTurnCare)) return;
   LOG(INFO, "At Low Bar %f\n",
-      ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+      ::aos::time::DurationInSeconds(monotonic_now() - start_time));
 
   OpenShooter();
   constexpr double kSecondBallAfterBarDrive = 2.10;
@@ -683,7 +682,7 @@
                      false, 12.0);
 
   LOG(INFO, "Done backing up %f\n",
-      ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+      ::aos::time::DurationInSeconds(monotonic_now() - start_time));
 
   constexpr double kDriveBackDistance = 5.15 - 0.4;
   StartDrive(-kDriveBackDistance, 0.0, kTwoBallLowDrive, kFinishTurn);
@@ -692,7 +691,7 @@
 
   StartDrive(0.0, -kBallSmallWallTurn, kTwoBallLowDrive, kFinishTurn);
   LOG(INFO, "Straightening up at %f\n",
-      ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+      ::aos::time::DurationInSeconds(monotonic_now() - start_time));
 
   CloseIfBall();
   if (!WaitForDriveNear(kDriveBackDistance - 2.3, kDoNotTurnCare)) return;
@@ -703,7 +702,7 @@
     if (!ball_detected) {
       if (!WaitForDriveDone()) return;
       LOG(INFO, "Aborting, no ball %f\n",
-          ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+          ::aos::time::DurationInSeconds(monotonic_now() - start_time));
       return;
     }
   }
@@ -720,7 +719,7 @@
 
   if (!WaitForDriveDone()) return;
   LOG(INFO, "Second shot done driving at %f seconds\n",
-      ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+      ::aos::time::DurationInSeconds(monotonic_now() - start_time));
   WaitForSuperstructure();
   AlignWithVisionGoal();
   if (ShouldCancel()) return;
@@ -731,31 +730,31 @@
   // 2.2 with 0.4 of vision.
   // 1.8 without any vision.
   LOG(INFO, "Going to vision align at %f\n",
-      ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+      ::aos::time::DurationInSeconds(monotonic_now() - start_time));
   WaitForAlignedWithVision(
       (start_time + chrono::milliseconds(13500) + kVisionExtra * 2) -
-      monotonic_clock::now());
+      monotonic_now());
   BackLongShotTwoBallFinish();
   WaitForSuperstructureProfile();
   if (ShouldCancel()) return;
   LOG(INFO, "Shoot at %f\n",
-      ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+      ::aos::time::DurationInSeconds(monotonic_now() - start_time));
   Shoot();
 
   LOG(INFO, "Second shot at %f seconds\n",
-      ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+      ::aos::time::DurationInSeconds(monotonic_now() - start_time));
   if (ShouldCancel()) return;
 
   SetShooterSpeed(0.0);
   LOG(INFO, "Folding superstructure back down\n");
   TuckArm(true, false);
   LOG(INFO, "Shot %f\n",
-      ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+      ::aos::time::DurationInSeconds(monotonic_now() - start_time));
 
   WaitForSuperstructureLow();
 
   LOG(INFO, "Done %f\n",
-      ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+      ::aos::time::DurationInSeconds(monotonic_now() - start_time));
 }
 
 void AutonomousActor::StealAndMoveOverBy(double distance) {
@@ -780,7 +779,7 @@
 
 bool AutonomousActor::RunAction(
     const ::frc971::autonomous::AutonomousActionParams &params) {
-  monotonic_clock::time_point start_time = monotonic_clock::now();
+  monotonic_clock::time_point start_time = monotonic_now();
   LOG(INFO, "Starting autonomous action with mode %" PRId32 "\n", params.mode);
 
   InitializeEncoders();
@@ -923,10 +922,10 @@
   if (!WaitForDriveDone()) return true;
 
   LOG(INFO, "Done %f\n",
-      ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+      ::aos::time::DurationInSeconds(monotonic_now() - start_time));
 
   ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
-                                      event_loop()->monotonic_now(),
+                                      monotonic_now(),
                                       ::std::chrono::milliseconds(5) / 2);
 
   while (!ShouldCancel()) {
diff --git a/y2017/actors/autonomous_actor.cc b/y2017/actors/autonomous_actor.cc
index 33c29a8..fa072ac 100644
--- a/y2017/actors/autonomous_actor.cc
+++ b/y2017/actors/autonomous_actor.cc
@@ -48,7 +48,7 @@
 
 bool AutonomousActor::RunAction(
     const ::frc971::autonomous::AutonomousActionParams &params) {
-  monotonic_clock::time_point start_time = monotonic_clock::now();
+  const monotonic_clock::time_point start_time = monotonic_now();
   LOG(INFO, "Starting autonomous action with mode %" PRId32 "\n", params.mode);
   Reset();
 
@@ -106,7 +106,7 @@
       SendSuperstructureGoal();
 
       this_thread::sleep_for(start_time + chrono::seconds(15) -
-                             monotonic_clock::now());
+                             monotonic_now());
       if (ShouldCancel()) return true;
 
       set_shooter_velocity(0.0);
@@ -180,7 +180,7 @@
 
       SendSuperstructureGoal();
       LOG(INFO, "Starting drive back %f\n",
-          ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+          ::aos::time::DurationInSeconds(monotonic_now() - start_time));
 
       StartDrive(-2.75, kDriveDirection * 1.24, kSlowDrive,
                  kFirstGearStartTurn);
@@ -203,19 +203,19 @@
       StartDrive(0.0, -kDriveDirection * 0.15, kSlowDrive, kSmashTurn);
 
       LOG(INFO, "Starting second shot %f\n",
-          ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+          ::aos::time::DurationInSeconds(monotonic_now() - start_time));
       set_indexer_angular_velocity(-2.15 * M_PI);
       SendSuperstructureGoal();
       if (!WaitForDriveNear(0.2, 0.1)) return true;
 
       this_thread::sleep_for(start_time + chrono::seconds(11) -
-                             monotonic_clock::now());
+                             monotonic_now());
       if (ShouldCancel()) return true;
       set_intake_max_velocity(0.05);
       set_intake_goal(0.08);
 
       this_thread::sleep_for(start_time + chrono::seconds(15) -
-                             monotonic_clock::now());
+                             monotonic_now());
       if (ShouldCancel()) return true;
 
       set_intake_max_velocity(0.50);
@@ -280,10 +280,9 @@
       SendSuperstructureGoal();
 
       LOG(INFO, "Started shooting at %f\n",
-          ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+          ::aos::time::DurationInSeconds(monotonic_now() - start_time));
 
-      this_thread::sleep_for(start_time + chrono::seconds(9) -
-                             monotonic_clock::now());
+      this_thread::sleep_for(start_time + chrono::seconds(9) - monotonic_now());
       if (ShouldCancel()) return true;
 
       set_intake_max_velocity(0.05);
@@ -291,7 +290,7 @@
       SendSuperstructureGoal();
 
       this_thread::sleep_for(start_time + chrono::seconds(15) -
-                             monotonic_clock::now());
+                             monotonic_now());
       if (ShouldCancel()) return true;
 
       set_shooter_velocity(0.0);
@@ -302,7 +301,7 @@
   }
 
   LOG(INFO, "Done %f\n",
-      ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+      ::aos::time::DurationInSeconds(monotonic_now() - start_time));
 
   ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
                                       event_loop()->monotonic_now(),
diff --git a/y2018/actors/autonomous_actor.cc b/y2018/actors/autonomous_actor.cc
index 80cdbe9..18b6789 100644
--- a/y2018/actors/autonomous_actor.cc
+++ b/y2018/actors/autonomous_actor.cc
@@ -59,7 +59,7 @@
 
 bool AutonomousActor::RunAction(
     const ::frc971::autonomous::AutonomousActionParams &params) {
-  monotonic_clock::time_point start_time = monotonic_clock::now();
+  const monotonic_clock::time_point start_time = monotonic_now();
   LOG(INFO, "Starting autonomous action with mode %" PRId32 "\n", params.mode);
   Reset();
 
@@ -112,7 +112,7 @@
   */
 
   LOG(INFO, "Done %f\n",
-      ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+      ::aos::time::DurationInSeconds(monotonic_now() - start_time));
 
   ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
                                       event_loop()->monotonic_now(),
@@ -170,7 +170,7 @@
 
     if (!WaitForArmTrajectoryClose(0.001)) return true;
     LOG(INFO, "Arm close at %f\n",
-        ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+        ::aos::time::DurationInSeconds(monotonic_now() - start_time));
 
     ::std::this_thread::sleep_for(chrono::milliseconds(1000));
 
@@ -257,7 +257,7 @@
   if (!WaitForDriveProfileNear(kFullDriveLength - (kSecondTurnDistance)))
     return true;
   LOG(INFO, "Final turn at %f\n",
-      ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+      ::aos::time::DurationInSeconds(monotonic_now() - start_time));
 
   StartDrive(0.0, M_PI / 2.0, kFarScaleFinalTurnDrive, kFarScaleSweepingTurn);
   if (!WaitForDriveProfileNear(0.15)) return true;
@@ -265,13 +265,13 @@
   StartDrive(0.0, 0.3, kFarScaleFinalTurnDrive, kFarScaleSweepingTurn);
 
   LOG(INFO, "Dropping at %f\n",
-      ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+      ::aos::time::DurationInSeconds(monotonic_now() - start_time));
   set_open_claw(true);
   SendSuperstructureGoal();
 
   ::std::this_thread::sleep_for(chrono::milliseconds(1000));
   LOG(INFO, "Backing up at %f\n",
-      ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+      ::aos::time::DurationInSeconds(monotonic_now() - start_time));
 
   StartDrive(1.5, -0.55, kFarScaleFinalTurnDrive, kFarScaleSweepingTurn);
 
@@ -313,7 +313,7 @@
   ::std::this_thread::sleep_for(chrono::milliseconds(500));
 
   LOG(INFO, "Dropping second box at %f\n",
-      ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+      ::aos::time::DurationInSeconds(monotonic_now() - start_time));
   set_open_claw(true);
   SendSuperstructureGoal();
 
@@ -346,7 +346,7 @@
   set_arm_goal_position(arm::UpIndex());
   SendSuperstructureGoal();
   LOG(INFO, "Lifting arm at %f\n",
-      ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+      ::aos::time::DurationInSeconds(monotonic_now() - start_time));
   if (!WaitForTurnProfileDone()) return true;
 
   StartDrive(0.0, 0.0, kDrive, kTurn);
@@ -379,7 +379,7 @@
   if (!WaitForDriveNear(0.2, 0.2)) return true;
   set_max_drivetrain_voltage(6.0);
   LOG(INFO, "Lowered drivetrain voltage %f\n",
-      ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+      ::aos::time::DurationInSeconds(monotonic_now() - start_time));
   ::std::this_thread::sleep_for(chrono::milliseconds(300));
 
   set_open_claw(true);
@@ -431,7 +431,7 @@
   SendSuperstructureGoal();
   set_intake_angle(-0.60);
   LOG(INFO, "Dropped first box %f\n",
-      ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+      ::aos::time::DurationInSeconds(monotonic_now() - start_time));
 
   ::std::this_thread::sleep_for(chrono::milliseconds(700));
 
@@ -439,7 +439,7 @@
   SendSuperstructureGoal();
 
   LOG(INFO, "Starting second box drive %f\n",
-      ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+      ::aos::time::DurationInSeconds(monotonic_now() - start_time));
   constexpr double kSecondBoxSwerveAngle = 0.35;
   constexpr double kSecondBoxDrive = 1.38;
   StartDrive(kSecondBoxDrive, 0.0, kDrive, kFastTurn);
@@ -466,7 +466,7 @@
   SendSuperstructureGoal();
 
   LOG(INFO, "Grabbing second box %f\n",
-      ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+      ::aos::time::DurationInSeconds(monotonic_now() - start_time));
   ::std::this_thread::sleep_for(chrono::milliseconds(200));
   StartDrive(-0.04, 0.0, kThirdBoxSlowBackup, kThirdBoxSlowTurn);
 
@@ -474,7 +474,7 @@
   set_max_drivetrain_voltage(12.0);
 
   LOG(INFO, "Got second box %f\n",
-      ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+      ::aos::time::DurationInSeconds(monotonic_now() - start_time));
   ::std::this_thread::sleep_for(chrono::milliseconds(500));
 
   set_grab_box(false);
@@ -484,7 +484,7 @@
   set_disable_box_correct(false);
   SendSuperstructureGoal();
   LOG(INFO, "Driving to place second box %f\n",
-      ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+      ::aos::time::DurationInSeconds(monotonic_now() - start_time));
 
   StartDrive(-kSecondBoxDrive + 0.16, kSecondBoxSwerveAngle, kDrive, kFastTurn);
   if (!WaitForDriveNear(0.4, M_PI / 2.0)) return true;
@@ -494,7 +494,7 @@
              kFastTurn);
 
   LOG(INFO, "Starting throw %f\n",
-      ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+      ::aos::time::DurationInSeconds(monotonic_now() - start_time));
   if (!WaitForDriveNear(0.4, M_PI / 2.0)) return true;
   if (!WaitForArmTrajectoryClose(0.25)) return true;
   SendSuperstructureGoal();
@@ -506,7 +506,7 @@
   set_open_claw(true);
   set_intake_angle(-M_PI / 4.0);
   LOG(INFO, "Releasing second box %f\n",
-      ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+      ::aos::time::DurationInSeconds(monotonic_now() - start_time));
   SendSuperstructureGoal();
 
   ::std::this_thread::sleep_for(chrono::milliseconds(700));
@@ -514,7 +514,7 @@
   SendSuperstructureGoal();
 
   LOG(INFO, "Driving to third box %f\n",
-      ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+      ::aos::time::DurationInSeconds(monotonic_now() - start_time));
   StartDrive(kThirdCubeDrive, kSecondBoxEndExtraAngle, kThirdBoxDrive,
              kFastTurn);
   if (!WaitForDriveNear(kThirdCubeDrive - 0.1, M_PI / 4.0)) return true;
@@ -535,15 +535,15 @@
   if (!WaitForDriveProfileDone()) return true;
 
   LOG(INFO, "Waiting for third box %f\n",
-      ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+      ::aos::time::DurationInSeconds(monotonic_now() - start_time));
   if (!WaitForBoxGrabed()) return true;
   LOG(INFO, "Third box grabbed %f\n",
-      ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+      ::aos::time::DurationInSeconds(monotonic_now() - start_time));
   const bool too_late =
-      monotonic_clock::now() > start_time + chrono::milliseconds(12500);
+      monotonic_now() > start_time + chrono::milliseconds(12500);
   if (too_late) {
     LOG(INFO, "Third box too long, going up. %f\n",
-        ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+        ::aos::time::DurationInSeconds(monotonic_now() - start_time));
     set_grab_box(false);
     set_arm_goal_position(arm::UpIndex());
     set_roller_voltage(0.0);
@@ -573,20 +573,20 @@
     SendSuperstructureGoal();
 
     LOG(INFO, "Final open %f\n",
-        ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+        ::aos::time::DurationInSeconds(monotonic_now() - start_time));
   }
 
   if (!WaitForDriveProfileDone()) return true;
   if (!WaitForTurnProfileDone()) return true;
 
   ::std::this_thread::sleep_for(chrono::milliseconds(14750) -
-                                (monotonic_clock::now() - start_time));
+                                (monotonic_now() - start_time));
 
   set_arm_goal_position(arm::UpIndex());
   SendSuperstructureGoal();
 
   ::std::this_thread::sleep_for(chrono::milliseconds(15000) -
-                                (monotonic_clock::now() - start_time));
+                                (monotonic_now() - start_time));
 
   set_close_claw(true);
   SendSuperstructureGoal();
diff --git a/y2019/actors/autonomous_actor.cc b/y2019/actors/autonomous_actor.cc
index 5138123..8408789 100644
--- a/y2019/actors/autonomous_actor.cc
+++ b/y2019/actors/autonomous_actor.cc
@@ -130,7 +130,7 @@
 
 bool AutonomousActor::RunAction(
     const ::frc971::autonomous::AutonomousActionParams &params) {
-  const monotonic_clock::time_point start_time = monotonic_clock::now();
+  const monotonic_clock::time_point start_time = monotonic_now();
   const bool is_left = params.mode == 0;
 
   {
@@ -258,7 +258,7 @@
     set_suction_goal(false, 1);
     SendSuperstructureGoal();
     LOG(INFO, "Dropping disc 1 %f\n",
-        ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+        ::aos::time::DurationInSeconds(monotonic_now() - start_time));
 
     if (!WaitForDriveYCloseToZero(1.13)) return true;
     if (!WaitForMilliseconds(::std::chrono::milliseconds(300))) return true;
@@ -284,7 +284,7 @@
     // As soon as we pick up Panel 2 go score on the rocket
     if (!WaitForGamePiece()) return true;
     LOG(INFO, "Got gamepiece %f\n",
-        ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+        ::aos::time::DurationInSeconds(monotonic_now() - start_time));
     LineFollowAtVelocity(-4.0);
     SplineHandle spline3 =
         PlanSpline(AutonomousSplines::HPToThirdCargoShipBay(is_left),
@@ -301,18 +301,18 @@
     // Line follow in to the second disc.
     LineFollowAtVelocity(-0.7, 3);
     LOG(INFO, "Drawing in disc 2 %f\n",
-        ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+        ::aos::time::DurationInSeconds(monotonic_now() - start_time));
     if (!WaitForDriveYCloseToZero(1.2)) return true;
 
     set_suction_goal(false, 1);
     SendSuperstructureGoal();
     LOG(INFO, "Dropping disc 2 %f\n",
-        ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+        ::aos::time::DurationInSeconds(monotonic_now() - start_time));
 
     if (!WaitForDriveYCloseToZero(1.13)) return true;
     if (!WaitForMilliseconds(::std::chrono::milliseconds(200))) return true;
     LOG(INFO, "Backing up %f\n",
-        ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+        ::aos::time::DurationInSeconds(monotonic_now() - start_time));
     LineFollowAtVelocity(0.9, 3);
     if (!WaitForMilliseconds(::std::chrono::milliseconds(400))) return true;
   } else {
@@ -354,7 +354,7 @@
   }
 
   LOG(INFO, "Done %f\n",
-      ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
+        ::aos::time::DurationInSeconds(monotonic_now() - start_time));
 
   return true;
 }
diff --git a/y2019/actors/autonomous_actor.h b/y2019/actors/autonomous_actor.h
index 1992543..edb2272 100644
--- a/y2019/actors/autonomous_actor.h
+++ b/y2019/actors/autonomous_actor.h
@@ -124,10 +124,9 @@
   }
 
   bool WaitForMilliseconds(std::chrono::milliseconds wait) {
-    ::aos::monotonic_clock::time_point end_time =
-        ::aos::monotonic_clock::now() + wait;
+    ::aos::monotonic_clock::time_point end_time = monotonic_now() + wait;
 
-    while (::aos::monotonic_clock::now() < end_time) {
+    while (monotonic_now() < end_time) {
       if (ShouldCancel()) {
         return false;
       }