From c3faf353e998d3733bec7fa9d68c2a28183d3930 Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Thu, 2 Oct 2025 01:07:46 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E5=A4=8Ddji=E7=94=B5=E6=9C=BAbug?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 device/motor_rm.c | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/device/motor_rm.c b/device/motor_rm.c
index e38073a..1b61374 100644
--- a/device/motor_rm.c
+++ b/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;
     }
+    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) {
-        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;
-        }
         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;