int16_t odometry_getLeft(uint8_t reset) {
  int16_t res;
  ATOMIC_C90_BEGIN()
 
/*
  res = odometry_left - odometry_usr_left;
  if (reset) {
    odometry_usr_left = odometry_left;
  }
*/
  if (reset) {
    odometry_usr_left = odometry_left;
  }
  res = odometry_left - odometry_usr_left;
 
  ATOMIC_C90_END()
  return res;
}