Ben Katz / HKC_MiniCheetah

Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol

Dependencies:   mbed-dev-f303 FastPWM3

Superseded by: https://github.com/bgkatz/motorcontrol

Diff: PositionSensor/PositionSensor.cpp

Revision:
45:26801179208e
Parent:
38:67e4e1453a4b
Child:
46:2d4b1dafcfe3
--- a/PositionSensor/PositionSensor.cpp	Mon Jun 11 00:04:06 2018 +0000
+++ b/PositionSensor/PositionSensor.cpp	Wed Jun 27 03:44:44 2018 +0000
@@ -25,10 +25,8 @@
     }
     
 void PositionSensorAM5147::Sample(){
-    GPIOA->ODR &= ~(1 << 15);
     raw = spi->write(readAngleCmd);
     raw &= 0x3FFF;                                                              //Extract last 14 bits
-    GPIOA->ODR |= (1 << 15);
     int off_1 = offset_lut[raw>>7];
     int off_2 = offset_lut[((raw>>7)+1)%128];
     int off_interp = off_1 + ((off_2 - off_1)*(raw - ((raw>>7)<<7))>>7);        // Interpolate between lookup table entries