From b3f9b3215b33796f0124e2701d521dacff155a6c Mon Sep 17 00:00:00 2001
From: Yannick Richter <git@y-richter.de>
Date: Mon, 8 Apr 2024 11:44:41 +0200
Subject: [PATCH] BISS-C first packet sets lastPos

Fixes one rotation offset with some startup positions
---
 Firmware/FFBoard/UserExtensions/Src/EncoderBissC.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/Firmware/FFBoard/UserExtensions/Src/EncoderBissC.cpp b/Firmware/FFBoard/UserExtensions/Src/EncoderBissC.cpp
index 55aa6ffc..bfae2357 100644
--- a/Firmware/FFBoard/UserExtensions/Src/EncoderBissC.cpp
+++ b/Firmware/FFBoard/UserExtensions/Src/EncoderBissC.cpp
@@ -41,6 +41,7 @@ EncoderBissC::EncoderBissC() :
 }
 
 void EncoderBissC::Run(){
+	bool first = true;
 	while(true){
 		requestNewDataSem.Take(); // Wait until a position is requested
 		waitData = true;
@@ -49,6 +50,10 @@ void EncoderBissC::Run(){
 
 		if(updateFrame()){
 			pos = newPos;
+			if(first){ // Prevent immediate multiturn update
+				lastPos = pos;
+				first = false;
+			}
 			//handle multiturn
 			if(pos-lastPos > 1<<(lenghtDataBit-1)){
 				mtpos--;