test
Dependencies: mbed-dev-f303 FastPWM3
Diff: PositionSensor/PositionSensor.cpp
- Branch:
- Cheetah_noflash
- Revision:
- 55:081470dee393
- Parent:
- 48:74a40481740c
diff -r 59575833d16f -r 081470dee393 PositionSensor/PositionSensor.cpp --- 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];