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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.
reads first byte of left encoder correctly, still can't get second byte
encoders might work now
potentially functional SPI driver, will test tonight
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.
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.