Return bank data in the table

Good morning, people. I'm starting in PHP and did this function below with the purpose of returning the data from two tables of my database in a table, I just can not make it work at all. Can someone help me?

MODEL:

public static function listar(){
    $sql = "SELECT p.id, p.canhoto, m.nome, p.id_motorista FROM canhotos_saida p INNER JOIN motoristas m ON p.id_motorista = m.id";
    $conexao = new Conexao();
    $result = $conexao->consultar($sql);

    $lista = new ArrayObject();

    while ( list($id, $canhoto,$motorNome, $motorId) = mysqli_fetch_row( $result ) ){

        $driver = new Motoristas($motorNome, $motorId);

        $cs = new CanhotosSaida($id, $canhoto, $driver);

        $lista->append($cs);        
    }
    return $lista;
}

Table code:

<?php
                include_once './model/clsCanhotosSaida.php';

                $lista = CanhotosSaida::listar();

                foreach ($lista as $nota) {

                echo '<tr>';
                echo '    <td>' .$nota->id. '</td> ';
                echo '    <td>' .$nota->canhoto. '</td> ';
                echo '    <td>' .$nota->motorista->nome. '</td> ';
                echo '</tr>';

                }

                ?>

With this code there, I get the following error:

Notice: Trying to get property of non-object in C:\xampp\htdocs\teste\notas.php on line 39

Line 39 is exactly in this snippet of table code:

echo '    <td>' .$nota->motorista->nome. '</td> ';

Detail: The note-> id and the left-hander are appearing on the table, only the name of the driver that does not ...