Emergency PosSpeedLimit fix

hytech-racing · Apr 21, 2024 · ef4a38f · ef4a38f
1 parent 5e139ae
commit ef4a38f
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/lib/systems/src/TorqueControllerMux.cpp b/lib/systems/src/TorqueControllerMux.cpp
@@ -200,6 +200,6 @@ void TorqueControllerMux::applyTorqueLimit(DrivetrainCommand_s* command)
 void TorqueControllerMux::applyPosSpeedLimit(DrivetrainCommand_s* command) {
     for (int i = 0; i < NUM_MOTORS; i++)
     {
-        command->torqueSetpoints[i] = std::max(0.0f, command->torqueSetpoints[i]);
+        command->speeds_rpm[i] = std::max(0.0f, command->speeds_rpm[i]);
     }
 }