cs_get_out(cs));
}
+uint32_t encmask = 0xFFFFFFFF;
+int32_t my_encoders_get_value(void *enc)
+{
+ int32_t tmp = encoders_spi_get_value(enc);
+ return tmp & encmask;
+}
+
void dump_pid(const char *name, struct pid_filter *pid)
{
printf_P(PSTR("%s P=% .8ld I=% .8ld D=% .8ld out=% .8ld\r\n"),
rs_set_left_pwm(&mainboard.rs, pwm_set_and_save, LEFT_PWM);
rs_set_right_pwm(&mainboard.rs, pwm_set_and_save, RIGHT_PWM);
/* increase gain to decrease dist, increase left and it will turn more left */
- rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value,
+ rs_set_left_ext_encoder(&mainboard.rs, my_encoders_get_value,
LEFT_ENCODER, IMP_COEF * 1.0015);
- rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value,
+ rs_set_right_ext_encoder(&mainboard.rs, my_encoders_get_value,
RIGHT_ENCODER, IMP_COEF * -1.006);
/* rs will use external encoders */
rs_set_flags(&mainboard.rs, RS_USE_EXT);