Revision 798
Minor style change - elseif's changed to a case :P
| encoders.c | ||
|---|---|---|
| 211 | 211 |
|
| 212 | 212 |
//Parse the encoder data, comes in over 5 bytes 16 bits per encoder, |
| 213 | 213 |
// second is offset by 1 bit. |
| 214 |
if(buf_index == 0) |
|
| 215 |
right_data_buf |= ((short)data)<<8 & 0xff00; |
|
| 216 |
|
|
| 217 |
else if (buf_index == 1) |
|
| 218 |
right_data_buf |= ((short)data) & 0xff; |
|
| 219 |
|
|
| 220 |
else if (buf_index == 2) |
|
| 214 |
switch(buf_index){
|
|
| 215 |
case 0: |
|
| 216 |
right_data_buf |= ((short)data)<<8 & 0xff00; |
|
| 217 |
break; |
|
| 218 |
case 1: |
|
| 219 |
right_data_buf |= ((short)data) & 0xff; |
|
| 220 |
break; |
|
| 221 |
case 2: |
|
| 221 | 222 |
left_data_buf |= (((short)data) << 9) & (0x7F << 9); |
| 222 |
|
|
| 223 |
else if (buf_index == 3)
|
|
| 223 |
break; |
|
| 224 |
case 3:
|
|
| 224 | 225 |
left_data_buf |= (((short)data) << 1) & (0xFF<<1); |
| 225 |
|
|
| 226 |
else if (buf_index == 4) |
|
| 227 |
left_data_buf |= (((short)data)>>7) & 0x1; |
|
| 228 |
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|
| 229 |
|
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| 226 |
break; |
|
| 227 |
case 4: left_data_buf |= (((short)data)>>7) & 0x1; |
|
| 228 |
|
|
| 230 | 229 |
buf_index = (buf_index + 1) % 5; |
| 231 | 230 |
|
| 232 | 231 |
if(buf_index==0) {
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