From 78ba7884fe6169886c23eaec1ad9811765e66f5f Mon Sep 17 00:00:00 2001
From: Paul Guenette <pfguenette@gmail.com>
Date: Wed, 2 Feb 2022 19:08:50 -0500
Subject: [PATCH] Increase comms speed with encoders to match DRV8301

---
 Firmware/MotorControl/encoder.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Firmware/MotorControl/encoder.cpp b/Firmware/MotorControl/encoder.cpp
index 71072923..b01b2bef 100644
--- a/Firmware/MotorControl/encoder.cpp
+++ b/Firmware/MotorControl/encoder.cpp
@@ -46,7 +46,7 @@ void Encoder::setup() {
         .CLKPolarity = (mode_ == MODE_SPI_ABS_AEAT || mode_ == MODE_SPI_ABS_MA732) ? SPI_POLARITY_HIGH : SPI_POLARITY_LOW,
         .CLKPhase = SPI_PHASE_2EDGE,
         .NSS = SPI_NSS_SOFT,
-        .BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32,
+        .BaudRatePrescaler = SPI_BAUDRATEPRESCALER_16,
         .FirstBit = SPI_FIRSTBIT_MSB,
         .TIMode = SPI_TIMODE_DISABLE,
         .CRCCalculation = SPI_CRCCALCULATION_DISABLE,