commit 8aec1ed3a3ad6a3713f98e16fbafbe54f25e3d46
author Austin Schuh <austin.linux@gmail.com> Sun May 01 13:29:20 2016 -0700
committer Austin Schuh <austin.linux@gmail.com> Sat Aug 13 12:42:06 2016 -0700
tree 4b98bec1358cf1a97415078b239f4b1c30f81248
parent 3b6977ea57255a23e04319f69a458fcf5a9bd2db

Converted PhasedLoop over to monotonic_clock.

Change-Id: Ic8857c4412abb7c19dd3df4aaa5f6c8aa74e9dc6

y2015/wpilib/wpilib_interface.cc

diff --git a/y2015/wpilib/wpilib_interface.cc b/y2015/wpilib/wpilib_interface.cc
index 3130424..14ca146 100644
--- a/y2015/wpilib/wpilib_interface.cc
+++ b/y2015/wpilib/wpilib_interface.cc
@@ -3,9 +3,10 @@
 #include <unistd.h>
 #include <inttypes.h>
 
-#include <thread>
-#include <mutex>
+#include <chrono>
 #include <functional>
+#include <mutex>
+#include <thread>
 
 #include "Encoder.h"
 #include "Talon.h"
@@ -241,8 +242,8 @@
     wrist_encoder_.Start();
     dma_synchronizer_->Start();
 
-    ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
-                                        ::aos::time::Time::InMS(4));
+    ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+                                        ::std::chrono::milliseconds(4));
 
     ::aos::SetCurrentThreadRealtimePriority(40);
     while (run_) {
@@ -418,8 +419,8 @@
     ::aos::SetCurrentThreadName("Solenoids");
     ::aos::SetCurrentThreadRealtimePriority(27);
 
-    ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(20),
-                                        ::aos::time::Time::InMS(1));
+    ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(20),
+                                        ::std::chrono::milliseconds(1));
 
     while (run_) {
       {