Convert y2017 to use event loop time
Change-Id: I101d113542b81fc7034640693435157ed6f637a0
diff --git a/y2017/control_loops/superstructure/column/column.cc b/y2017/control_loops/superstructure/column/column.cc
index b4762a7..2a3cde7 100644
--- a/y2017/control_loops/superstructure/column/column.cc
+++ b/y2017/control_loops/superstructure/column/column.cc
@@ -384,7 +384,8 @@
freeze_ = false;
}
-void Column::Iterate(const control_loops::IndexerGoal *unsafe_indexer_goal,
+void Column::Iterate(const ::aos::monotonic_clock::time_point monotonic_now,
+ const control_loops::IndexerGoal *unsafe_indexer_goal,
const control_loops::TurretGoal *unsafe_turret_goal,
const ColumnPosition *position,
const vision::VisionStatus *vision_status,
@@ -395,8 +396,8 @@
bool disable = turret_output == nullptr || indexer_output == nullptr;
profiled_subsystem_.Correct(*position);
- vision_time_adjuster_.Tick(::aos::monotonic_clock::now(),
- profiled_subsystem_.X_hat(2, 0), vision_status);
+ vision_time_adjuster_.Tick(monotonic_now, profiled_subsystem_.X_hat(2, 0),
+ vision_status);
switch (state_) {
case State::UNINITIALIZED:
@@ -560,8 +561,6 @@
// If a "stuck" event is detected, reverse. Stay reversed until either
// unstuck, or 0.5 seconds have elapsed.
// Then, start going forwards. Don't detect stuck for 0.5 seconds.
-
- monotonic_clock::time_point monotonic_now = monotonic_clock::now();
switch (indexer_state_) {
case IndexerState::RUNNING:
// The velocity goal is already set above in this case, so leave it