hongwei liu / Hobbyking_Cheetah_noflash

test

Dependencies:   mbed-dev-f303 FastPWM3

Diff: PositionSensor/PositionSensor.cpp

Branch:
Cheetah_noflash
Revision:
55:081470dee393
Parent:
48:74a40481740c
--- a/PositionSensor/PositionSensor.cpp	Thu Aug 08 17:39:43 2019 +0000
+++ b/PositionSensor/PositionSensor.cpp	Thu Jan 02 09:11:07 2020 +0000
@@ -30,7 +30,9 @@
     //raw = spi->write(readAngleCmd);
     //raw &= 0x3FFF;   
     raw = spi->write(0);
-    raw = raw>>2;                                                             //Extract last 14 bits
+    //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];