From 8ad4ad92de25815a2f1389889d2719fc920ef7d9 Mon Sep 17 00:00:00 2001
From: Oskar Weigl <oskar.weigl@gmail.com>
Date: Tue, 5 Feb 2019 21:40:40 -0800
Subject: [PATCH] center sincos on 50pct

---
 Firmware/MotorControl/encoder.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Firmware/MotorControl/encoder.cpp b/Firmware/MotorControl/encoder.cpp
index 6a04dd4f..633778fa 100644
--- a/Firmware/MotorControl/encoder.cpp
+++ b/Firmware/MotorControl/encoder.cpp
@@ -263,8 +263,8 @@ void Encoder::sample_now() {
         } break;
 
         case MODE_SINCOS: {
-            sincos_sample_s_ = get_adc_voltage(GPIO_3_GPIO_Port, GPIO_3_Pin) / 3.3f;
-            sincos_sample_c_ = get_adc_voltage(GPIO_4_GPIO_Port, GPIO_4_Pin) / 3.3f;
+            sincos_sample_s_ = (get_adc_voltage(GPIO_3_GPIO_Port, GPIO_3_Pin) / 3.3f) - 0.5f;
+            sincos_sample_c_ = (get_adc_voltage(GPIO_4_GPIO_Port, GPIO_4_Pin) / 3.3f) - 0.5f;
         } break;
 
         default: {