Make the high-rate debug port output the onboard encoder value once a…

…gain
mjbots · Jul 5, 2022 · 74dae1b · 74dae1b
1 parent 1129437
commit 74dae1b
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/fw/bldc_servo.cc b/fw/bldc_servo.cc
@@ -2050,7 +2050,7 @@ class BldcServo::Impl {
         };
 
     if (config_.emit_debug & (1 << 0)) {
-      write_scalar(static_cast<uint16_t>(position_.position));
+      write_scalar(static_cast<uint16_t>(aux1_port_->status()->spi.value * 4));
     }
 
     if (config_.emit_debug & (1 << 2)) {