From 67cac6463de93723b0cb77ab55b1dc615a7433b3 Mon Sep 17 00:00:00 2001
From: Paul Guenette <pfguenette@gmail.com>
Date: Wed, 13 Dec 2017 21:49:22 -0500
Subject: [PATCH] Don't reset count if we've already found the index...

---
 Firmware/MotorControl/low_level.c | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/Firmware/MotorControl/low_level.c b/Firmware/MotorControl/low_level.c
index 4a0eb7e0..34927e8e 100644
--- a/Firmware/MotorControl/low_level.c
+++ b/Firmware/MotorControl/low_level.c
@@ -530,12 +530,14 @@ void step_cb(uint16_t GPIO_Pin) {
     }
 }
 
-void enc_index_cb(uint16_t GPIO_Pin, int index){
-    setEncoderCount(&motors[index], 0);
-    motors[index].IndexFound = true;
+// Triggered when an encoder passes over the "Index" pin
+void enc_index_cb(uint16_t GPIO_Pin, int index) {
+    if (!motors[index].encoder.index_found) {
+        setEncoderCount(&motors[index], 0);
+        motors[index].encoder.index_found = true;
+    }
 }
 
-
 void vbus_sense_adc_cb(ADC_HandleTypeDef* hadc, bool injected) {
     static const float voltage_scale = 3.3f * 11.0f / (float)(1 << 12);
     // Only one conversion in sequence, so only rank1