From 3a680f84c85fcf9f2f879c25f9792dca0a3461bf Mon Sep 17 00:00:00 2001
From: Stedd <toanpa+git@pm.me>
Date: Sun, 22 Oct 2023 02:06:40 +0200
Subject: [PATCH] Fixed a bug in LeftMotorAngular velocity calculation

---
 motorControl.ino | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/motorControl.ino b/motorControl.ino
index 69558a0..b773f36 100644
--- a/motorControl.ino
+++ b/motorControl.ino
@@ -68,7 +68,7 @@ void motors() {
   if (balancingOn) {
 
     //Calculate wheel angular velocity
-    motor_ang_vel[0][0] = encoderReaderAngVel(m1Raw, m1RawLast, motor_ang_vel[1][0], PULSES_PER_TURN, WHEEL_DIAMETER, dT_s, filter_gain);
+    motor_ang_vel[0][0] = encoderReaderAngVel(m1Raw, m1RawLast, motor_ang_vel[0][0], PULSES_PER_TURN, WHEEL_DIAMETER, dT_s, filter_gain);
     motor_ang_vel[1][0] = encoderReaderAngVel(m2Raw, m2RawLast, motor_ang_vel[1][0], PULSES_PER_TURN, WHEEL_DIAMETER, dT_s, filter_gain);