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_bot3/autonomous/auto.cc

diff --git a/y2014_bot3/autonomous/auto.cc b/y2014_bot3/autonomous/auto.cc
index 80f2b09..90d8457 100644
--- a/y2014_bot3/autonomous/auto.cc
+++ b/y2014_bot3/autonomous/auto.cc
@@ -1,25 +1,25 @@
 #include <stdio.h>
 
+#include <chrono>
 #include <memory>
 
-#include "aos/common/util/phased_loop.h"
-#include "aos/common/time.h"
-#include "aos/common/util/trapezoid_profile.h"
 #include "aos/common/logging/logging.h"
 #include "aos/common/logging/queue_logging.h"
-
+#include "aos/common/time.h"
+#include "aos/common/util/phased_loop.h"
+#include "aos/common/util/trapezoid_profile.h"
 #include "frc971/control_loops/drivetrain/drivetrain.q.h"
 #include "y2014_bot3/autonomous/auto.q.h"
 #include "y2014_bot3/control_loops/rollers/rollers.q.h"
 
-using ::aos::time::Time;
 using ::frc971::control_loops::drivetrain_queue;
 using ::y2014_bot3::control_loops::rollers_queue;
 
 namespace y2014_bot3 {
 namespace autonomous {
 
-namespace time = ::aos::time;
+namespace chrono = ::std::chrono;
+using ::aos::monotonic_clock;
 
 static double left_initial_position, right_initial_position;
 
@@ -54,8 +54,10 @@
 }
 
 void HandleAuto() {
-  ::aos::time::Time start_time = ::aos::time::Time::Now();
-  LOG(INFO, "Starting auto mode at %f\n", start_time.ToSeconds());
+  monotonic_clock::time_point start_time = monotonic_clock::now();
+  LOG(INFO, "Starting auto mode at %f\n",
+      chrono::duration_cast<chrono::duration<double>>(
+          start_time.time_since_epoch()).count());
 
   // TODO(comran): Add various options for different autos down below.
   ResetDrivetrain();
@@ -73,7 +75,7 @@
       .right_goal(right_initial_position)
       .right_velocity_goal(0)
       .Send();
-  time::SleepFor(time::Time::InSeconds(2.0));
+  ::std::this_thread::sleep_for(chrono::seconds(2));
 
   ::frc971::control_loops::drivetrain_queue.goal.MakeWithBuilder()
       .control_loop_driving(false)

y2014_bot3/autonomous/auto_main.cc

diff --git a/y2014_bot3/autonomous/auto_main.cc b/y2014_bot3/autonomous/auto_main.cc
index d0b1952..32c8cca 100644
--- a/y2014_bot3/autonomous/auto_main.cc
+++ b/y2014_bot3/autonomous/auto_main.cc
@@ -6,8 +6,6 @@
 #include "y2014_bot3/autonomous/auto.q.h"
 #include "y2014_bot3/autonomous/auto.h"
 
-using ::aos::time::Time;
-
 int main(int /*argc*/, char * /*argv*/[]) {
   ::aos::Init(-1);
 
@@ -24,12 +22,15 @@
       LOG(INFO, "Got another auto packet\n");
     }
     LOG(INFO, "Starting auto mode\n");
-    ::aos::time::Time start_time = ::aos::time::Time::Now();
+    ::aos::monotonic_clock::time_point start_time =
+        ::aos::monotonic_clock::now();
     ::y2014_bot3::autonomous::HandleAuto();
 
-    ::aos::time::Time elapsed_time = ::aos::time::Time::Now() - start_time;
+    auto elapsed_time = ::aos::monotonic_clock::now() - start_time;
     LOG(INFO, "Auto mode exited in %f, waiting for it to finish.\n",
-        elapsed_time.ToSeconds());
+        ::std::chrono::duration_cast<::std::chrono::duration<double>>(
+            elapsed_time)
+            .count());
     while (::y2014_bot3::autonomous::autonomous->run_auto) {
       ::y2014_bot3::autonomous::autonomous.FetchNextBlocking();
       LOG(INFO, "Got another auto packet\n");