X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2009%2Fmainboard%2Fcs.c;fp=projects%2Fmicrob2009%2Fmainboard%2Fcs.c;h=1fb83463fa48334d0df8089b344394537398735a;hp=ec70f9a2ecebf748b7c6fdb8e6f594ac7f8b1fb5;hb=fca037e03b1b0fe462ad19e848cd77fce7719e3c;hpb=4a33e94c3809e67674577509044653bac4a4d87a

diff --git a/projects/microb2009/mainboard/cs.c b/projects/microb2009/mainboard/cs.c
index ec70f9a..1fb8346 100644
--- a/projects/microb2009/mainboard/cs.c
+++ b/projects/microb2009/mainboard/cs.c
@@ -136,6 +136,13 @@ void dump_cs(const char *name, struct cs *cs)
 		 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"),
@@ -153,9 +160,9 @@ void microb_cs_init(void)
 	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);