commit f2a50ba841f843e01da373aaad271974ea4fa99e
author Austin Schuh <austin.linux@gmail.com> Sat Dec 24 16:16:26 2016 -0800
committer Austin Schuh <austin.linux@gmail.com> Mon Jan 02 00:16:12 2017 -0800
tree ca12c1c87e8c57dde7b107b598a25f6581b69543
parent 908516a237e4772007ba7b2a48dc75c10d8cfecd

Upgraded the rest of Time.

Change-Id: I0ee083837e51d8f74a798b7ba14a3b6bb3859f35

y2014/actors/drivetrain_actor.cc

diff --git a/y2014/actors/drivetrain_actor.cc b/y2014/actors/drivetrain_actor.cc
index c0ee47b..7ab4f3d 100644
--- a/y2014/actors/drivetrain_actor.cc
+++ b/y2014/actors/drivetrain_actor.cc
@@ -50,8 +50,10 @@
   turn_profile.set_maximum_velocity(params.maximum_turn_velocity *
                                     control_loops::drivetrain::kRobotRadius);
 
+  ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+                                      ::std::chrono::milliseconds(5) / 2);
   while (true) {
-    ::aos::time::PhasedLoopXMS(5, 2500);
+    phased_loop.SleepUntilNext();
 
     ::frc971::control_loops::drivetrain_queue.status.FetchLatest();
     if (::frc971::control_loops::drivetrain_queue.status.get()) {