+static uint8_t spickle_is_at_pos(uint8_t side, int32_t pos)
+{
+ int32_t diff;
+ int32_t enc;
+ if (side == I2C_LEFT_SIDE)
+ enc = encoders_spi_get_value(LEFT_SPICKLE_ENCODER);
+ else
+ enc = encoders_spi_get_value(RIGHT_SPICKLE_ENCODER);
+ diff = pos - enc;
+ if (diff < 0)
+ diff = -diff;
+ if (diff < 500)
+ return 1;
+ return 0;
+}
+
+uint8_t spickle_is_packed(uint8_t side)
+{
+ return spickle_is_at_pos(side, spickle.pos_packed[side]);
+}
+
+uint8_t spickle_is_deployed(uint8_t side)
+{
+ return spickle_is_at_pos(side, spickle.pos_deployed[side]);
+}
+