2 files changed, 3 insertions, 1 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dancer.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dancer.c
index 1fc637029..499f227a9 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dancer.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dancer.c
@@ -57,7 +57,7 @@ void Stub_DancerPositionRequest(MessageContainer* requestContainer)
 
     if(Dancer_Id < NUM_OF_ROTENC)
     {
-        FPGA_SSI_Transnit(Dancer_Id);
+        FPGA_SSI_Transmit(Dancer_Id);
         SysCtlDelay(1000);
         FPGA_SSI_Receive(Dancer_Id);
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 48c985321..4477835d0 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -210,6 +210,8 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
     {
         DancerId = ThreadMotorIdToDancerId[index];
         TranslatedReadValue = ReadValue - DancersCfg[DancerId].zeropoint;
+        if (index == POOLER_MOTOR)
+            TranslatedReadValue = (-1*TranslatedReadValue);
         MotorSamples[index][MotorSamplePointer[index]] = TranslatedReadValue;//(-1 * TranslatedReadValue);
         MotorSamplePointer[index]++;
         if (MotorSamplePointer[index] >= MotorsControl[index].pvinputfilterfactormode) MotorSamplePointer[index] = 0;