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🎨 Updates duty and fixes direction angle

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This commit is contained in:
Rune Harlyk
2025-10-11 19:16:30 +02:00
parent aee29c47e4
commit 0b9921e592
1 changed files with 3 additions and 3 deletions
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esp32/include/motion_states/walk_state.h
+3 -3
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@@ -21,7 +21,7 @@ class WalkState : public MotionState {
WALK_GAIT mode = WALK_GAIT::TROT; WALK_GAIT mode = WALK_GAIT::TROT;
float phase_time = 0.0f; float phase_time = 0.0f;
float phase_offset[4] = {0.f, 0.5f, 0.5f, 0.f}; float phase_offset[4] = {0.f, 0.5f, 0.5f, 0.f};
float stand_offset = 0.6f; float stand_offset = 0.75f;
float step_length = 0.0f; float step_length = 0.0f;
float speed_factor = 2; float speed_factor = 2;
gait_state_t gait_state; gait_state_t gait_state;
@@ -79,7 +79,7 @@ class WalkState : public MotionState {
for (int i = 0; i < 4; ++i) phase_offset[order[i]] = base[i]; for (int i = 0; i < 4; ++i) phase_offset[order[i]] = base[i];
} }
void set_mode_trot(float duty = 0.6f, std::array<float, 4> offsets = {0.f, 0.5f, 0.5f, 0.f}) { void set_mode_trot(float duty = 0.75f, std::array<float, 4> offsets = {0.f, 0.5f, 0.5f, 0.f}) {
mode = WALK_GAIT::TROT; mode = WALK_GAIT::TROT;
speed_factor = 2; speed_factor = 2;
stand_offset = duty; stand_offset = duty;
@@ -239,7 +239,7 @@ class WalkState : public MotionState {
float delta_rot[3] = {0}; float delta_rot[3] = {0};
float length = step_length * 0.5f; float length = step_length * 0.5f;
float angle = std::atan2(gait_state.step_z, step_length); float angle = std::atan2(gait_state.step_z, step_length) * 2.0f;
curve(length, angle, arg, phase, delta_pos); curve(length, angle, arg, phase, delta_pos);
length = gait_state.step_angle * 2.0f; length = gait_state.step_angle * 2.0f;