-#ifdef DEBUG_CPLD
- ll = encoders_spi_get_value(LEFT_ENCODER);
- rr = encoders_spi_get_value(RIGHT_ENCODER);
- if ((ll - ll_prev > 3000) || (ll - ll_prev < -3000) ||
- (rr - rr_prev > 3000) || (rr - rr_prev < -3000)) {
- printf_P(PSTR("/ %d %d %d %d\r\n"),
- g_encoders_spi_previous[0],
- g_encoders_spi_previous[1],
- g_encoders_spi_previous[2],
- g_encoders_spi_previous[3]);
- BRAKE_ON();
- while (1);
- }
- ll_prev = ll;
- rr_prev = rr;
-#endif