change the way we read the ma730 angle

Author: runger1101001

src/encoders/ma730/MA730.cpp

@@ -16,12 +16,12 @@ void MA730::init(SPIClass* _spi) {
 };
 
 float MA730::getCurrentAngle() {
-    return ((float)readRawAngle())/(float)MA730_CPR * 2.0f * (float)PI;
+    return (readRawAngle() * _2PI)/MA730_CPR;
 }; // angle in radians, return current value
 
 uint16_t MA730::readRawAngle() {
     uint16_t angle = transfer16(0x0000);
-    return angle>>2;
+    return angle;
 }; // 14bit angle value
 
 uint16_t MA730::getZero() {

src/encoders/ma730/MA730.h

@@ -13,7 +13,8 @@ enum FieldStrength {
 };
 
 
-#define MA730_CPR 16384
+#define _2PI 6.28318530718f
+#define MA730_CPR 65536.0f
 
 #define MA730_REG_ZERO_POSITION_LSB 0x00
 #define MA730_REG_ZERO_POSITION_MSB 0x01
@@ -27,7 +28,7 @@ enum FieldStrength {
 
 #define MA730_BITORDER MSBFIRST
 
-static SPISettings MA730SPISettings(8000000, MA730_BITORDER, SPI_MODE3); // @suppress("Invalid arguments")
+static SPISettings MA730SPISettings(1000000, MA730_BITORDER, SPI_MODE3); // @suppress("Invalid arguments")
 static SPISettings MA730SSISettings(4000000, MA730_BITORDER, SPI_MODE1); // @suppress("Invalid arguments")