commit d6c364e3242284550936273fe15fe69eaac95a80
author Austin Schuh <austin.linux@gmail.com> Sat Nov 26 15:15:44 2016 -0800
committer Austin Schuh <austin.linux@gmail.com> Sun Dec 04 19:32:16 2016 -0800
tree 06e70f834143c8e41875229b5769c02837fc5f0d
parent fb5f7de462373647f007dfb29ad88c22c90cb2cb

Upgraded y2016_bot3 autonomous to std::chrono

Change-Id: Idb0107ee8e5a65ac3147a8515df7113bbf0326e0

y2016_bot3/actors/autonomous_actor.cc

diff --git a/y2016_bot3/actors/autonomous_actor.cc b/y2016_bot3/actors/autonomous_actor.cc
index 27dae0e..ac3ed91 100644
--- a/y2016_bot3/actors/autonomous_actor.cc
+++ b/y2016_bot3/actors/autonomous_actor.cc
@@ -2,6 +2,7 @@
 
 #include <inttypes.h>
 
+#include <chrono>
 #include <cmath>
 
 #include "aos/common/util/phased_loop.h"
@@ -17,6 +18,8 @@
 namespace actors {
 using ::frc971::control_loops::drivetrain_queue;
 
+namespace chrono = ::std::chrono;
+
 namespace {
 const ProfileParameters kLowBarDrive = {1.3, 2.5};
 }  // namespace
@@ -318,7 +321,7 @@
 }
 
 bool AutonomousActor::RunAction(const actors::AutonomousActionParams &params) {
-  aos::time::Time start_time = aos::time::Time::Now();
+  aos::monotonic_clock::time_point start_time = aos::monotonic_clock::now();
   LOG(INFO, "Starting autonomous action with mode %" PRId32 "\n", params.mode);
 
   InitializeEncoders();
@@ -334,7 +337,8 @@
 
   if (!WaitForDriveDone()) return true;
 
-  LOG(INFO, "Done %f\n", (aos::time::Time::Now() - start_time).ToSeconds());
+  LOG(INFO, "Done %f\n", chrono::duration_cast<chrono::duration<double>>(
+                             aos::monotonic_clock::now() - start_time).count());
 
   ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
                                       ::std::chrono::milliseconds(5) / 2);