fix(odrive_can_driver): update cache variables in MotorAxisRead

rxsio · Dec 4, 2024 · e4a1ddd · e4a1ddd
1 parent ba48869
commit e4a1ddd
Showing 1 changed file with 5 additions and 5 deletions.
diff --git a/odrive_can_driver/src/odrive_axis.cpp b/odrive_can_driver/src/odrive_axis.cpp
@@ -37,11 +37,11 @@ bool IsSupportedInterface(const std::string & interface)
 
 void MotorAxisInterface::Read()
 {
-  motor_axis_->position_state = motor_axis_->position_state.load() * position_factor_;
-  motor_axis_->velocity_state = motor_axis_->velocity_state.load() * position_factor_;
-  motor_axis_->effort_state = motor_axis_->effort_state.load() * torque_factor_;
-  motor_axis_->timeout_error = motor_axis_->timeout_error.load();
-  motor_axis_->error = motor_axis_->error.load();
+  position_state = motor_axis_->position_state.load() * position_factor_;
+  velocity_state = motor_axis_->velocity_state.load() * position_factor_;
+  effort_state = motor_axis_->effort_state.load() * torque_factor_;
+  timeout_error = motor_axis_->timeout_error.load();
+  error = motor_axis_->error.load();
 }
 
 void MotorAxisInterface::Write()