avr/motor_ctrl: fix angle reading

[ros_wild_thumper.git] / avr / motor_ctrl / main.c

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index f8a5c34b95fbb81eebca2a3e7ea923610e661c19..9ca7b851471a5ee375434e817a5a1c817b814202 100644 (file)
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -545,19 +545,19 @@ ISR(TWI_vect)
                                        TWI_ACK;
                                        break;
                                case 0x48: // Position angle MSB
-                                       TWDR = pos_y.i>>24;
+                                       TWDR = angle.i>>24;
                                        TWI_ACK;
                                        break;
                                case 0x49: // Position angle
-                                       TWDR = pos_y.i>>16;
+                                       TWDR = angle.i>>16;
                                        TWI_ACK;
                                        break;
                                case 0x4A: // Position angle
-                                       TWDR = pos_y.i>>8;
+                                       TWDR = angle.i>>8;
                                        TWI_ACK;
                                        break;
                                case 0x4B: // Position angle LSB
-                                       TWDR = pos_y.i;
+                                       TWDR = angle.i;
                                        TWI_ACK;
                                        break;
                                case 0xA0: // Reset reason