+#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