added torques callback as private variable, and addressed it on the ontorques callback

Author: Maximiliano Palay

src/ODriveCAN.cpp

@@ -159,7 +159,7 @@ void ODriveCAN::onReceive(uint32_t id, uint8_t length, const uint8_t* data) {
             Get_Torques_msg_t estimates;
             estimates.decode_buf(data);
             if (torques_callback_)
-                torques_callback_(estimates, feedback_user_data_);
+                torques_callback_(estimates, torques_user_data_);
             break;
         }
         case Heartbeat_msg_t::cmd_id: {

src/ODriveCAN.h

@@ -219,7 +219,7 @@ class ODriveCAN {
      */
     void onTorques(void (*callback)(Get_Torques_msg_t& feedback, void* user_data), void* user_data = nullptr) {
         torques_callback_ = callback; 
-        feedback_user_data_ = user_data;
+        torques_user_data_ = user_data;
     }
 
     /**
@@ -330,6 +330,7 @@ class ODriveCAN {
 
     void* axis_state_user_data_;
     void* feedback_user_data_;
+    void* torques_user_data_;
 
     void (*axis_state_callback_)(Heartbeat_msg_t& feedback, void* user_data) = nullptr;
     void (*feedback_callback_)(Get_Encoder_Estimates_msg_t& feedback, void* user_data) = nullptr;