fix: remove duplicate pid_ref from DMMotorInstance

DMMotorInstance had its own pid_ref field while motor_controller already has pid_ref. Use motor_controller.pid_ref uniformly.
2026-05-30 00:36:32 +08:00
parent 075495791a
commit 3e77eed2bb
2 changed files with 2 additions and 3 deletions
@@ -188,7 +188,7 @@ DMMotorInstance *DMMotorInit(DM_Motor_Init_Config_s *config)

 void DMMotorSetRef(DMMotorInstance *motor, float ref)
 {
-    motor->pid_ref = ref;
+    motor->motor_controller.pid_ref = ref;
 }

 void DMMotorSetCtrlMode(DMMotorInstance *motor, DM_Motor_Mode_e mode)
@@ -218,7 +218,7 @@ void DMMotorControl(void)
        /* angle PID: IMU feedback → velocity output */
        float pid_ref = PIDCalculate(&motor->motor_controller.angle_PID,
                                     *motor->motor_controller.other_angle_feedback_ptr,
-                                     motor->pid_ref);
+                                     motor->motor_controller.pid_ref);

        if (motor->output_reverse == OUTPUT_DIRECTION_REVERSE)
            pid_ref *= -1;