Fixed typecasting in kinematic_common_interface

huskyroboticsteam · Aug 8, 2023 · 80de6f4 · 80de6f4
1 parent 0329841
commit 80de6f4
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/src/world_interface/kinematic_common_interface.cpp b/src/world_interface/kinematic_common_interface.cpp
@@ -106,10 +106,10 @@ double setCmdVelSwerve(double j1x, double j1y, double j2x, double j2y, int drive
 	setMotorPower(motorid_t::frontRightWheel, (double)(driveTrainSwerve.wh[1]).control.wheelSpeed);
 	setMotorPower(motorid_t::rearRightWheel, (double)(driveTrainSwerve.wh[2]).control.wheelSpeed);
 
-	setMotorPos(motorid_t::frontLeftSteer, (double)(driveTrainSwerve.wh[0]).control.steeringTarget * 180.0 / 3.14159);
-	setMotorPos(motorid_t::rearLeftSteer, (double)(driveTrainSwerve.wh[3]).control.steeringTarget * 180.0 / 3.14159);
-	setMotorPos(motorid_t::frontRightSteer, (double)(driveTrainSwerve.wh[1]).control.steeringTarget * 180.0 / 3.14159);
-	setMotorPos(motorid_t::rearRightSteer, (double)(driveTrainSwerve.wh[2]).control.steeringTarget * 180.0 / 3.14159);
+	setMotorPos(motorid_t::frontLeftSteer, (int32_t)(driveTrainSwerve.wh[0]).control.steeringTarget * 180.0 / 3.14159);
+	setMotorPos(motorid_t::rearLeftSteer, (int32_t)(driveTrainSwerve.wh[3]).control.steeringTarget * 180.0 / 3.14159);
+	setMotorPos(motorid_t::frontRightSteer, (int32_t)(driveTrainSwerve.wh[1]).control.steeringTarget * 180.0 / 3.14159);
+	setMotorPos(motorid_t::rearRightSteer, (int32_t)(driveTrainSwerve.wh[2]).control.steeringTarget * 180.0 / 3.14159);
 
 	return 0.0;
 }