Merge pull request #56 from ihsrobotics/cleanup-includes

Cleanup includes

Author: chrehall68

CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.0)
-project(ihs_boost VERSION 1.7.0)
+project(ihs_boost VERSION 1.7.1)
 
 # options
 option(build_tests "build_tests" OFF)

modules/threading/src/accumulator.cpp

@@ -1,5 +1,4 @@
 #include "accumulator.hpp"
-#include <kipr/wombat.h>
 
 Accumulator::Accumulator(std::function<double()> callable, int updates_per_sec)
     : BackgroundTask(updates_per_sec), callable(callable),

modules/util/include/timer.hpp

@@ -13,6 +13,8 @@
 #ifndef IHSBOOST_TIMER_HPP
 #define IHSBOOST_TIMER_HPP
 
+#include <chrono>
+
 /**
  * @brief A class that implements a timer, useful when you want
  * to line-follow for a certain amount of time.
@@ -47,8 +49,8 @@ class Timer
     bool done() const;
 
 private:
-    double _time;
-    double _start_time;
+    int _time;
+    std::chrono::steady_clock::time_point _start_time;
 };
 
 #endif

modules/util/src/timer.cpp

@@ -1,7 +1,6 @@
 #include "timer.hpp"
-#include <kipr/wombat.h>
 
-Timer::Timer(double time) : _time(time), _start_time(seconds()){};
+Timer::Timer(double time) : _time(static_cast<int>(time * 1000000)), _start_time(std::chrono::steady_clock::now()){};
 
 bool Timer::operator()() const { return done(); }
-bool Timer::done() const { return seconds() - _start_time >= _time; }
+bool Timer::done() const { return std::chrono::duration_cast<std::chrono::microseconds>(std::chrono::steady_clock::now() - _start_time).count() >= _time; }