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also mask the states

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This commit is contained in:
Oskar Weigl
2020-11-07 15:04:17 -08:00
parent 7d062e9018
commit b0a1ef7caa
1 changed files with 1 additions and 1 deletions
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Firmware/MotorControl/encoder.cpp
+1 -1
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@@ -231,7 +231,7 @@ bool Encoder::run_hall_calibration() {
uint8_t states = state_seen.to_ulong();
uint8_t hall_polarity = 0;
auto flip_detect = [](uint8_t states, unsigned int idx)->bool {
return ~states == (1<<(0+idx) | 1<<(7-idx));
return (0xFF & ~states) == (1<<(0+idx) | 1<<(7-idx));
};
if (flip_detect(states, 0)) {
hall_polarity = 0b000;