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Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol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Superseded by: https://github.com/bgkatz/motorcontrol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:
48:74a40481740c
Parent:
47:e1196a851f76
Child:
52:8e74c22ed89f
Child:
56:fe5056ac6740
--- a/PositionSensor/PositionSensor.cpp	Wed Dec 05 04:07:46 2018 +0000
+++ b/PositionSensor/PositionSensor.cpp	Sun Mar 03 02:51:51 2019 +0000
@@ -30,7 +30,7 @@
     //raw = spi->write(readAngleCmd);
     //raw &= 0x3FFF;   
     raw = spi->write(0);
-    raw = raw>>1;                                                             //Extract last 14 bits
+    raw = raw>>2;                                                             //Extract last 14 bits
     GPIOA->ODR |= (1 << 15);
     int off_1 = offset_lut[raw>>7];
     int off_2 = offset_lut[((raw>>7)+1)%128];