Make monotonic_now a required parameter to PhasedLoop
This prepares us much better for mocking out time as part of the event
loop conversion.
Change-Id: I57560b97b265ddd41fe7a4e9f74d7b1324d15955
diff --git a/frc971/wpilib/sensor_reader.cc b/frc971/wpilib/sensor_reader.cc
index ec1e822..2e0cd0a 100644
--- a/frc971/wpilib/sensor_reader.cc
+++ b/frc971/wpilib/sensor_reader.cc
@@ -100,7 +100,7 @@
LOG(INFO, "Defaulting to open loop pwm synchronization\n");
}
::aos::time::PhasedLoop phased_loop(
- period,
+ period, ::aos::monotonic_clock::now(),
pwm_trigger_ ? ::std::chrono::milliseconds(3) : chrono::milliseconds(4));
::aos::SetCurrentThreadRealtimePriority(40);