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fixed lost of bugs in the libraries for spi and encoder
added another function pointer to encoders which gets called after all bytes are recv'd.working on a behavior to drive in a straight line, but encoders are giving invalid on robot 5
code commented and cleaned up. should work but untested.
encoders work
reads first byte of left encoder correctly, still can't get second byte
encoders might work now
potentially functional SPI driver, will test tonight
more broken code
More testing. Transmission is messed up.
Read the datasheet again and I think we had things out of order. Reversed the order but didn't test yet.
Modified spi.c/h. Sends 1 packet before failing. Funny light blinking thing happens when sending, no idea where that came from. It looks like the orbs are used as transmit lights but there's no code for that as far as I know.
Modified the spi module a bit. Didn't test it but this might be better. Need to talk to Ben about it.
Started the encoders file. Nothing in there because I don't have a stable SPI interface to work with yet.
slave -> master kind of works
SPI Master->Slave works. Slave->Master not working yet. /template/main.c has the test bench. Yay!
Changed formatting so that it isn't as messy. Probably won't compile. Still probably doesn't work.
SPI update, still not functional