dm motor typo fix

Author: Raventhatfly

decomposition/metav_description/urdf/playground/dm_motor.xacro

@@ -38,21 +38,21 @@
             <hardware>
                 <plugin>meta_hardware/MetaRobotDmMotorNetwork</plugin>
                 <param name="can_network_name">can0</param>
-                <param name="master_id">0</param>
+                <param name="master_id">0x30</param>
             </hardware>
             <joint name="motor_joint">
                 <command_interface name="position" />
                 <state_interface name="position" />
                 <state_interface name="velocity" />
                 <state_interface name="effort" />
-                <param name="motor_model">4310</param>
+                <param name="motor_model">DaMiao</param>
                 <param name="motor_id">2</param>
                 <param name="mechanical_reduction">1.0</param>
                 <param name="max_pos">3.141593</param>
                 <param name="max_vel">30</param>
                 <param name="max_effort">10</param>
                 <param name="offset">0.0</param>
-                <param name="control_mode">position</param>
+                <param name="control_mode">mit</param>
                 <param name="Kp">150.0</param>
                 <param name="Kd">0.5</param>
             </joint>

execution/meta_hardware/src/motor_driver/dm_motor_driver.cpp

@@ -33,7 +33,7 @@ DmMotor::DmMotor(const std::unordered_map<std::string, std::string> &motor_param
     max_effort_ = std::stod(motor_param.at("max_effort"));
 
     std::string control_mode = motor_param.at("control_mode");
-    uint32_t id_offeset = 0;
+    uint32_t id_offset = 0;
 
     if (control_mode == "mit") {
         Kp_ = std::stod(motor_param.at("Kp"));
@@ -46,16 +46,16 @@ DmMotor::DmMotor(const std::unordered_map<std::string, std::string> &motor_param
 
     } else if (control_mode == "position") {
         run_mode_ = RunMode::POSITION;
-        id_offeset = 0x100;
+        id_offset = 0x100;
     } else if (control_mode == "velocity") {
         run_mode_ = RunMode::VELOCITY;
-        id_offeset = 0x200;
+        id_offset = 0x200;
     } else {
         throw std::runtime_error("Unknown motor mode: " + control_mode);
     }
 
-    if (motor_model_ == "4310") {
-        tx_can_id_ = dm_motor_id_ + id_offeset;
+    if (motor_model_ == "DaMiao") {
+        tx_can_id_ = dm_motor_id_ + id_offset;
     } else {
         throw std::runtime_error("Unknown motor model: " + motor_model_);
     }