diff --git a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
index d3ea2f0..21a968a 100644
--- a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
+++ b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
@@ -1,5 +1,6 @@
 #include <unistd.h>
 
+#include <chrono>
 #include <memory>
 
 #include "aos/common/controls/control_loop_test.h"
@@ -24,8 +25,8 @@
 namespace drivetrain {
 namespace testing {
 
-using ::aos::time::Time;
-
+namespace chrono = ::std::chrono;
+using ::aos::monotonic_clock;
 using ::y2016::control_loops::drivetrain::MakeDrivetrainPlant;
 
 // TODO(Comran): Make one that doesn't depend on the actual values for a
@@ -235,9 +236,9 @@
     SimulateTimestep(true);
   }
 
-  void RunForTime(const Time run_for) {
-    const auto end_time = Time::Now() + run_for;
-    while (Time::Now() < end_time) {
+  void RunForTime(monotonic_clock::duration run_for) {
+    const auto end_time = monotonic_clock::now() + run_for;
+    while (monotonic_clock::now() < end_time) {
       RunIteration();
     }
   }
@@ -261,7 +262,7 @@
       .left_goal(-1.0)
       .right_goal(1.0)
       .Send();
-  RunForTime(Time::InSeconds(2.0));
+  RunForTime(chrono::seconds(2));
   VerifyNearGoal();
 }
 
@@ -275,7 +276,7 @@
       .Send();
   drivetrain_motor_plant_.set_left_voltage_offset(1.0);
   drivetrain_motor_plant_.set_right_voltage_offset(1.0);
-  RunForTime(Time::InSeconds(1.5));
+  RunForTime(chrono::milliseconds(1500));
   VerifyNearGoal();
 }
 
@@ -311,7 +312,7 @@
 // Tests that never having a goal, but having driver's station messages, doesn't
 // break.
 TEST_F(DrivetrainTest, NoGoalWithRobotState) {
-  RunForTime(Time::InSeconds(0.1));
+  RunForTime(chrono::milliseconds(100));
 }
 
 // Tests that the robot successfully drives straight forward.
@@ -393,7 +394,8 @@
     goal.Send();
   }
 
-  while (Time::Now() < Time::InSeconds(6)) {
+  while (monotonic_clock::now() <
+         monotonic_clock::time_point(chrono::seconds(6))) {
     RunIteration();
     ASSERT_TRUE(my_drivetrain_queue_.output.FetchLatest());
     EXPECT_NEAR(my_drivetrain_queue_.output->left_voltage,
@@ -423,7 +425,8 @@
     goal.Send();
   }
 
-  while (Time::Now() < Time::InSeconds(6)) {
+  while (monotonic_clock::now() <
+         monotonic_clock::time_point(chrono::seconds(6))) {
     RunIteration();
     ASSERT_TRUE(my_drivetrain_queue_.output.FetchLatest());
     EXPECT_NEAR(my_drivetrain_queue_.output->left_voltage,
@@ -453,7 +456,8 @@
     goal.Send();
   }
 
-  while (Time::Now() < Time::InSeconds(3)) {
+  while (monotonic_clock::now() <
+         monotonic_clock::time_point(chrono::seconds(3))) {
     RunIteration();
     ASSERT_TRUE(my_drivetrain_queue_.output.FetchLatest());
   }
@@ -471,7 +475,7 @@
       .quickturn(false)
       .Send();
 
-  RunForTime(Time::InSeconds(1.0));
+  RunForTime(chrono::seconds(1));
 
   my_drivetrain_queue_.goal.MakeWithBuilder()
       .control_loop_driving(false)
@@ -481,7 +485,7 @@
       .quickturn(false)
       .Send();
 
-  RunForTime(Time::InSeconds(1.0));
+  RunForTime(chrono::seconds(1));
 
   my_drivetrain_queue_.goal.MakeWithBuilder()
       .control_loop_driving(false)
@@ -491,7 +495,7 @@
       .quickturn(false)
       .Send();
 
-  RunForTime(Time::InSeconds(10.0));
+  RunForTime(chrono::seconds(10));
 
   {
     ::aos::ScopedMessagePtr<::frc971::control_loops::DrivetrainQueue::Goal>
@@ -508,8 +512,8 @@
     goal.Send();
   }
 
-  const auto end_time = Time::Now() + Time::InSeconds(4);
-  while (Time::Now() < end_time) {
+  const auto end_time = monotonic_clock::now() + chrono::seconds(4);
+  while (monotonic_clock::now() < end_time) {
     drivetrain_motor_plant_.SendPositionMessage();
     drivetrain_motor_.Iterate();
     drivetrain_motor_plant_.Simulate();
diff --git a/frc971/control_loops/voltage_cap/voltage_cap_test.cc b/frc971/control_loops/voltage_cap/voltage_cap_test.cc
index 4bee640..23e2f34 100644
--- a/frc971/control_loops/voltage_cap/voltage_cap_test.cc
+++ b/frc971/control_loops/voltage_cap/voltage_cap_test.cc
@@ -7,8 +7,6 @@
 #include "aos/common/queue.h"
 #include "aos/testing/test_shm.h"
 
-using ::aos::time::Time;
-
 namespace frc971 {
 namespace control_loops {
 namespace testing {
diff --git a/frc971/control_loops/zeroed_joint.h b/frc971/control_loops/zeroed_joint.h
index f25434f..fcfd29f 100644
--- a/frc971/control_loops/zeroed_joint.h
+++ b/frc971/control_loops/zeroed_joint.h
@@ -135,12 +135,11 @@
 
   ZeroedJoint(StateFeedbackLoop<3, 1, 1> loop)
       : loop_(new ZeroedStateFeedbackLoop<kNumZeroSensors>(loop, this)),
-        last_good_time_(0, 0),
+        last_good_time_(::aos::monotonic_clock::min_time()),
         state_(UNINITIALIZED),
         error_count_(0),
         zero_offset_(0.0),
-        capped_goal_(false) {
-  }
+        capped_goal_(false) {}
 
   // Copies the provided configuration data locally.
   void set_config_data(const ConfigurationData &config_data) {
@@ -191,14 +190,14 @@
   friend class testing::WristTest_NoWindupPositive_Test;
   friend class testing::WristTest_NoWindupNegative_Test;
 
-  static const ::aos::time::Time kRezeroTime;
+  static constexpr ::aos::monotonic_clock::duration kRezeroTime;
 
   // The state feedback control loop to talk to.
   ::std::unique_ptr<ZeroedStateFeedbackLoop<kNumZeroSensors>> loop_;
 
   ConfigurationData config_data_;
 
-  ::aos::time::Time last_good_time_;
+  ::aos::monotonic_clock::time_point last_good_time_;
 
   // Returns the index of the first active sensor, or -1 if none are active.
   int ActiveSensorIndex(
@@ -262,8 +261,8 @@
 };
 
 template <int kNumZeroSensors>
-const ::aos::time::Time ZeroedJoint<kNumZeroSensors>::kRezeroTime =
-    ::aos::time::Time::InSeconds(2);
+constexpr ::aos::monotonic_clock::duration
+    ZeroedJoint<kNumZeroSensors>::kRezeroTime = ::std::chrono::seconds(2);
 
 template <int kNumZeroSensors>
 /*static*/ const double ZeroedJoint<kNumZeroSensors>::dt = 0.01;
@@ -283,7 +282,7 @@
     output_enabled = false;
     LOG(WARNING, "err_count is %d so disabling\n", error_count_);
 
-    if ((::aos::time::Time::Now() - last_good_time_) > kRezeroTime) {
+    if (::aos::monotonic_clock::now() > kRezeroTime + last_good_time_) {
       LOG(WARNING, "err_count is %d (or 1st time) so forcing a re-zero\n",
           error_count_);
       state_ = UNINITIALIZED;
@@ -291,7 +290,7 @@
     }
   }
   if (position != NULL) {
-    last_good_time_ = ::aos::time::Time::Now();
+    last_good_time_ = ::aos::monotonic_clock::now();
     error_count_ = 0;
   }