From 1db2af06c8515b0931121ec792b728c9001af96c Mon Sep 17 00:00:00 2001 From: Saul Date: Mon, 3 Aug 2026 10:41:26 +0200 Subject: [PATCH] fix: add id ox401 to read delta_scaled when position mode is used in DV motor --- src/arussim/src/arussim_node.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/arussim/src/arussim_node.cpp b/src/arussim/src/arussim_node.cpp index 19af68e..ad75cdc 100644 --- a/src/arussim/src/arussim_node.cpp +++ b/src/arussim/src/arussim_node.cpp @@ -908,7 +908,7 @@ void Simulator::receive_can_0() as_status_ = frame_0_.data[1]; } - else if ((frame_0_.can_id & CAN_EFF_MASK) == 0x601) + else if ((frame_0_.can_id & CAN_EFF_MASK) == 0x401 || (frame_0_.can_id & CAN_EFF_MASK) == 0x601) { int32_t delta_scaled = static_cast((frame_0_.data[0] << 24) | (frame_0_.data[1] << 16) | (frame_0_.data[2] << 8) | frame_0_.data[3]); can_delta_ = static_cast(delta_scaled) / 10000.0f * M_PI / 180.0f / 4.279f;