From aa86a0c2081bfd781572417b7f9345f7ed108b79 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?H=C3=A5vard=20Brenne?= <hb@voliro.com>
Date: Fri, 15 May 2026 10:09:22 +0200
Subject: [PATCH] fix: Clear FPGA Cart X/Y/Theta accumulator in
 clearCounterEnable

---
 VitesseAPI.py | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/VitesseAPI.py b/VitesseAPI.py
index 8e4a1c1..d9cc872 100644
--- a/VitesseAPI.py
+++ b/VitesseAPI.py
@@ -680,7 +680,12 @@ def clearEncoders(self):
         # backward compatible with older firmware
         if (self.version < 1000):
             return self
-
+        
+        # numClearCountersOn is capped at 5 per call.
+        # Clear Cart X/Y/Theta accumulator.
+        self.clearCounterEnable([0, 0, 0, 0, 0, 0, 0, 0])
+        self.clearCounterEnable([0, 0, 0, 0, 1, 1, 1, 0])
+        # Clear encoder 1 and 2.
         self.clearCounterEnable([0, 0, 0, 0, 0, 0, 0, 0])
         self.clearCounterEnable([1, 0, 0, 0, 0, 0, 0, 0])
         return self