From 68bb4d7b577eacd20b8cc3276484d99180dd1245 Mon Sep 17 00:00:00 2001
From: Yannis Chatzikonstantinou <info@tinymovr.com>
Date: Tue, 27 Aug 2024 13:43:22 +0300
Subject: [PATCH] fix encoder reference

---
 src/tm_joint_iface.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/tm_joint_iface.cpp b/src/tm_joint_iface.cpp
index 5096095..c3a3ae7 100644
--- a/src/tm_joint_iface.cpp
+++ b/src/tm_joint_iface.cpp
@@ -327,8 +327,8 @@ void TinymovrJoint::read(const ros::Time& time, const ros::Duration& period)
         for (int i=0; i<servos.size(); i++)
         {
             const double ticks_to_rads = 1.0/rads_to_ticks[i];
-            joint_position_state[i] = servos[i].encoder.get_position_estimate() * ticks_to_rads;
-            joint_velocity_state[i] = servos[i].encoder.get_velocity_estimate() * ticks_to_rads;
+            joint_position_state[i] = servos[i].sensor.user_frame.get_position_estimate() * ticks_to_rads;
+            joint_velocity_state[i] = servos[i].sensor.user_frame.get_velocity_estimate() * ticks_to_rads;
             joint_effort_state[i] = servos[i].controller.current.get_Iq_estimate();
         }
     }