commit abe04c46be95185202ad1544764c4d678a827410
author Campbell Crowley <mail@campbellcrowley.com> Sun Oct 23 14:42:27 2016 -0700
committer Campbell Crowley <mail@campbellcrowley.com> Sun Oct 23 14:42:27 2016 -0700
tree 37af24c095b161926f9043f11207f454890b9e75
parent 6ed1117472b6ef4092b68193c20b4de2f35023ee

Updated y2016_bot3 to monotonic_clock

Change-Id: I105ca122aef0f1751a871097165f85a522a4cbb4

y2016_bot3/actors/autonomous_actor.cc

diff --git a/y2016_bot3/actors/autonomous_actor.cc b/y2016_bot3/actors/autonomous_actor.cc
index d6263a7..4167f2e 100644
--- a/y2016_bot3/actors/autonomous_actor.cc
+++ b/y2016_bot3/actors/autonomous_actor.cc
@@ -78,8 +78,8 @@
     return;
   }
 
-  ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
-                                      ::aos::time::Time::InMS(5) / 2);
+  ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+                                      ::std::chrono::milliseconds(5) / 2);
   while (true) {
     // Poll the running bit and see if we should cancel.
     phased_loop.SleepUntilNext();
@@ -90,8 +90,8 @@
 }
 
 bool AutonomousActor::WaitForDriveNear(double distance, double angle) {
-  ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
-                                      ::aos::time::Time::InMS(5) / 2);
+  ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+                                      ::std::chrono::milliseconds(5) / 2);
   constexpr double kPositionTolerance = 0.02;
   constexpr double kProfileTolerance = 0.001;
 
@@ -138,8 +138,8 @@
 }
 
 bool AutonomousActor::WaitForDriveProfileDone() {
-  ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
-                                      ::aos::time::Time::InMS(5) / 2);
+  ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+                                      ::std::chrono::milliseconds(5) / 2);
   constexpr double kProfileTolerance = 0.001;
 
   while (true) {
@@ -186,8 +186,8 @@
 }
 
 bool AutonomousActor::WaitForDriveDone() {
-  ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
-                                      ::aos::time::Time::InMS(5) / 2);
+  ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+                                      ::std::chrono::milliseconds(5) / 2);
 
   while (true) {
     if (ShouldCancel()) {
@@ -281,8 +281,8 @@
 }
 
 void AutonomousActor::WaitForBallOrDriveDone() {
-  ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
-                                      ::aos::time::Time::InMS(5) / 2);
+  ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+                                      ::std::chrono::milliseconds(5) / 2);
   while (true) {
     if (ShouldCancel()) {
       return;
@@ -337,8 +337,8 @@
 
   LOG(INFO, "Done %f\n", (aos::time::Time::Now() - start_time).ToSeconds());
 
-  ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
-                                      ::aos::time::Time::InMS(5) / 2);
+  ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+                                      ::std::chrono::milliseconds(5) / 2);
 
   while (!ShouldCancel()) {
     phased_loop.SleepUntilNext();

y2016_bot3/wpilib/wpilib_interface.cc

diff --git a/y2016_bot3/wpilib/wpilib_interface.cc b/y2016_bot3/wpilib/wpilib_interface.cc
index 59dce44..ad75401 100644
--- a/y2016_bot3/wpilib/wpilib_interface.cc
+++ b/y2016_bot3/wpilib/wpilib_interface.cc
@@ -170,8 +170,8 @@
 
     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_) {
@@ -296,8 +296,8 @@
     ::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_) {
       {