From 96feb958a5bed002cba414d5276620456300f3a9 Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Fri, 3 Oct 2025 22:58:09 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AErm?=
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---
 assets/User_code/device/motor_rm.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/assets/User_code/device/motor_rm.c b/assets/User_code/device/motor_rm.c
index ba10434..9b5ea44 100644
--- a/assets/User_code/device/motor_rm.c
+++ b/assets/User_code/device/motor_rm.c
@@ -139,13 +139,13 @@ static void Motor_RM_Decode(MOTOR_RM_t *motor, BSP_CAN_Message_t *msg) {
         motor->feedback.rotor_speed = rotor_speed;
         motor->feedback.torque_current = torque_current;
     }
-    if (motor->motor.reverse) {
         while (motor->feedback.rotor_abs_angle < 0) {
             motor->feedback.rotor_abs_angle += M_2PI;
         }
         while (motor->feedback.rotor_abs_angle >= M_2PI) {
             motor->feedback.rotor_abs_angle -= M_2PI;
         }
+    if (motor->motor.reverse) {
         motor->feedback.rotor_abs_angle = M_2PI - motor->feedback.rotor_abs_angle;
         motor->feedback.rotor_speed = -motor->feedback.rotor_speed;
         motor->feedback.torque_current = -motor->feedback.torque_current;