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Fix get_iq_callbacks function

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This commit is contained in:
Paul Guenette
2022-04-01 13:04:39 -04:00
parent 22be53cf5f
commit 6ab5807428
1 changed files with 4 additions and 4 deletions
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Firmware/communication/can/can_simple.cpp
+4 -4
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@@ -319,11 +319,11 @@ bool CANSimple::get_iq_callback(const Axis& axis) {
if (!Idq_setpoint.has_value()) {
Idq_setpoint = {0.0f, 0.0f};
}
static_assert(sizeof(float) == sizeof(Idq_setpoint->first));
static_assert(sizeof(float) == sizeof(Idq_setpoint->second));
can_setSignal<float>(txmsg, Idq_setpoint->first, 0, 32, true);
can_setSignal<float>(txmsg, Idq_setpoint->second, 32, 32, true);
static_assert(sizeof(float) == sizeof(axis.motor_.current_control_.Iq_measured_));
can_setSignal<float>(txmsg, Idq_setpoint->second, 0, 32, true);
can_setSignal<float>(txmsg, axis.motor_.current_control_.Iq_measured_, 32, 32, true);
return canbus_->send_message(txmsg);
}