From dc1721a1dd85dc6e1201d14a050a6b85489c4da3 Mon Sep 17 00:00:00 2001
From: PAJohnson <pajohns4@ncsu.edu>
Date: Tue, 1 Dec 2020 22:48:47 -0500
Subject: [PATCH] merge fixes

---
 Firmware/MotorControl/encoder.cpp | 2 +-
 Firmware/MotorControl/encoder.hpp | 3 ---
 Firmware/odrive-interface.yaml    | 2 +-
 3 files changed, 2 insertions(+), 5 deletions(-)

diff --git a/Firmware/MotorControl/encoder.cpp b/Firmware/MotorControl/encoder.cpp
index 488a2a3a..17ac87a1 100644
--- a/Firmware/MotorControl/encoder.cpp
+++ b/Firmware/MotorControl/encoder.cpp
@@ -664,7 +664,7 @@ bool Encoder::update() {
                                 return false;
                             }
 
-                            auto maybe_phase = axis_->open_loop_controller_.phase_.get_any();
+                            auto maybe_phase = axis_->open_loop_controller_.phase_.any();
                             if (maybe_phase) {
                                 float phase = maybe_phase.value();
                                 // Early increment to get the right divisor in recursive average
diff --git a/Firmware/MotorControl/encoder.hpp b/Firmware/MotorControl/encoder.hpp
index 4ce863a5..f20436ab 100644
--- a/Firmware/MotorControl/encoder.hpp
+++ b/Firmware/MotorControl/encoder.hpp
@@ -24,9 +24,6 @@ public:
         float phase_offset_float = 0.0f; // Sub-count phase alignment offset
         int32_t cpr = (2048 * 4);   // Default resolution of CUI-AMT102 encoder,
         float index_offset = 0.0f;
-        uint16_t abs_spi_cs_gpio_pin = 1;
-        uint16_t sincos_gpio_pin_sin = 3;
-        uint16_t sincos_gpio_pin_cos = 4;
         bool use_index = false;
         bool pre_calibrated = false; // If true, this means the offset stored in
                                     // configuration is valid and does not need
diff --git a/Firmware/odrive-interface.yaml b/Firmware/odrive-interface.yaml
index d7d2e008..7a414ea6 100644
--- a/Firmware/odrive-interface.yaml
+++ b/Firmware/odrive-interface.yaml
@@ -974,7 +974,7 @@ interfaces:
       pos_estimate_counts: readonly float32
       pos_cpr_counts: readonly float32
       delta_pos_cpr_counts: readonly float32
-      pos_circular: {type: readonly float32, c_getter: pos_circular_.get_any().value_or(0.0f)}
+      pos_circular: {type: readonly float32, c_getter: pos_circular_.any().value_or(0.0f)}
       hall_state: readonly uint8
       vel_estimate: {type: readonly float32, c_getter: vel_estimate_.any().value_or(0.0f)}
       vel_estimate_counts: readonly float32