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🦘 Cleans gait source

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This commit is contained in:
Rune Harlyk
2024-08-01 21:00:37 +02:00
committed by Rune Harlyk
parent 215bfdf582
commit 0e59ee93f8
2 changed files with 34 additions and 41 deletions
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app/src/lib/gait.ts
+2 -2
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@@ -27,7 +27,7 @@ export abstract class GaitState {
protected static body_state: body_state_t;
protected get default_feet_pos() {
public get default_feet_pos() {
return [
[1, -1, 1, 1],
[1, -1, -1, 1],
@@ -54,7 +54,7 @@ export abstract class GaitState {
return {
step_height: 0.4,
step_x: (Math.floor(fromInt8(command.ly, -1, 1) * 10) / 10) * 3,
step_z: (Math.floor(fromInt8(command.lx, -1, 1) * 10) / 10) * 3,
step_z: -(Math.floor(fromInt8(command.lx, -1, 1) * 10) / 10) * 3,
step_velocity: 1,
step_angle: 0,
step_depth: 0.2