message: Changed old-school variable reuse to modern style declarations
diff: @@ -434,7 +434,6 @@ void Encoder::abs_spi_cs_pin_init(){
  bool Encoder::update() {
  // update internal encoder state.
  int32_t delta_enc = 0;
  - float delta_pos_cpr = 0;
  switch (mode_) {
  case MODE_INCREMENTAL: {
  @@ -524,11 +523,11 @@ bool Encoder::update() {
  }
  // Outputs from Encoder for Controller
  - delta_pos_cpr = pos_cpr_;
  + float pos_cpr_last = pos_cpr_;
  pos_estimate_ = pos_estimate_counts_ * 2.0f * M_PI / (float)config_.cpr;
  vel_estimate_ = vel_estimate_counts_ * 2.0f * M_PI / (float)config_.cpr;
  pos_cpr_= pos_cpr_counts_ * 2.0f * M_PI / (float)config_.cpr;
  - delta_pos_cpr = wrap_pm(pos_cpr_ - delta_pos_cpr, M_PI);
  + float delta_pos_cpr = wrap_pm(pos_cpr_ - pos_cpr_last, M_PI);
  pos_circular_ += delta_pos_cpr;
  pos_circular_ = fmodf_pos(pos_circular_, axis_->controller_.config_.circular_setpoint_range);
  