more euclid change

Andrewyx · Andrewyx · commit 4b62eaebc9af · 2026-06-02T16:43:05.000-07:00
diff --git a/src/software/embedded/motor_controller/stspin_motor_controller.cpp b/src/software/embedded/motor_controller/stspin_motor_controller.cpp
@@ -189,8 +189,8 @@ int StSpinMotorController::readThenWriteVelocity(const MotorIndex motor,
 void StSpinMotorController::updateEuclideanVelocity(
     EuclideanSpace_t target_euclidean_velocity)
 {
-    const Vector local_velocity(target_euclidean_velocity[0],
-                                target_euclidean_velocity[1]);
+    const Vector local_velocity(target_euclidean_velocity[1],
+                                target_euclidean_velocity[0]);
 
     if (local_velocity.length() <= MINIMUM_SPEED_FOR_FEED_FORWARD)
     {

Original file line number	Diff line number	Diff line change
`@@ -189,8 +189,8 @@ int StSpinMotorController::readThenWriteVelocity(const MotorIndex motor,`
`189`	`189`	`void StSpinMotorController::updateEuclideanVelocity(`
`190`	`190`	`EuclideanSpace_t target_euclidean_velocity)`
`191`	`191`	`{`
`192`		`- const Vector local_velocity(target_euclidean_velocity[0],`
`193`		`- target_euclidean_velocity[1]);`
	`192`	`+ const Vector local_velocity(target_euclidean_velocity[1],`
	`193`	`+ target_euclidean_velocity[0]);`
`194`	`194`
`195`	`195`	`if (local_velocity.length() <= MINIMUM_SPEED_FOR_FEED_FORWARD)`
`196`	`196`	`{`