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2 changes: 1 addition & 1 deletion src/dynamixel/servos/servo.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -195,7 +195,7 @@ namespace dynamixel {
{
typename Servo<Model>::ct_t::present_position_t pos;
Servo<Model>::protocol_t::unpack_data(st.parameters(), pos);
double deg = ((pos - ct_t::min_goal_position) * (ct_t::max_goal_angle_deg - ct_t::min_goal_angle_deg) / (ct_t::max_goal_position - ct_t::min_goal_position)) + ct_t::min_goal_angle_deg;
double deg = (((double)pos - ct_t::min_goal_position) * (ct_t::max_goal_angle_deg - ct_t::min_goal_angle_deg) / (ct_t::max_goal_position - ct_t::min_goal_position)) + ct_t::min_goal_angle_deg;
double rad = deg / 57.2958;
return rad;
}
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