hongwei liu / HKC_MiniCheetah

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Dependencies:   mbed-dev-f303 FastPWM3

Diff: PositionSensor/PositionSensor.cpp

Revision:
57:f3336e9eb1f2
Parent:
56:fe5056ac6740
--- a/PositionSensor/PositionSensor.cpp	Thu Oct 10 15:03:12 2019 +0000
+++ b/PositionSensor/PositionSensor.cpp	Wed Sep 22 08:36:54 2021 +0000
@@ -38,6 +38,8 @@
     //raw &= 0x3FFF;   
     raw = spi->write(0);
     raw = raw>>2;                                                             //Extract last 14 bits
+    //raw &= 0x7FFF;
+    //raw = raw>>1; 
     GPIOA->ODR |= (1 << 15);
     int off_1 = offset_lut[raw>>7];
     int off_2 = offset_lut[((raw>>7)+1)%128];