Account for bad reading

Northeastern-Electric-Racing · Jun 4, 2024 · aa15305 · aa15305
1 parent 6e1dc7e
commit aa15305
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/CM7/Core/Src/encoder.c b/CM7/Core/Src/encoder.c
@@ -85,7 +85,8 @@ void vEncoderObserver(void *pv_params)
 	for (;;)
 	{
         /* Retrieve SSI position */
-        encoder_get_angle_ssi(encoder, &ssi_position);
+        if (encoder_get_angle_ssi(encoder, &ssi_position));
+            continue;
 
         /* Fuse SSI position with incremental position */
         msg.payload.rotor_position = (ssi_position + encoder_get_angle_incr(encoder)) / 2;