🎨 Format and simplify controls

app/src/lib/stores/model-store.ts

@@ -1,4 +1,12 @@
-import { HumanInputData, KinematicData, ModeData, ModesEnum, WalkGaitData, WalkGaits } from '$lib/platform_shared/websocket_message'
+import Kinematic from '$lib/kinematic'
+import {
+    HumanInputData,
+    KinematicData,
+    ModeData,
+    ModesEnum,
+    WalkGaitData,
+    WalkGaits
+} from '$lib/platform_shared/websocket_message'
 import { persistentStore } from '$lib/utilities/svelte-utilities'
 import { writable, type Writable } from 'svelte/store'
 
@@ -10,36 +18,39 @@ export const model = writable()
 
 export const mode: Writable<ModeData> = writable(ModeData.create({ mode: ModesEnum.DEACTIVATED }))
 
-export const walkGait: Writable<WalkGaitData> = writable( WalkGaitData.create({gait: WalkGaits.TROT }) )
-
-export const outControllerData = writable( HumanInputData.create( {left: {x:0,y:0}, right: {x:0,y:0}, height:0, s1:0, speed:0} ) )
+export const walkGait: Writable<WalkGaitData> = writable(
+    WalkGaitData.create({ gait: WalkGaits.TROT })
+)
 
 export const kinematicData = writable(KinematicData.create())
 
-export const input: Writable<HumanInputData> = writable( HumanInputData.create( {left: {x:0,y:0}, right: {x:0,y:0}, height:0, s1:0, speed:0} ) )
+export const input: Writable<HumanInputData> = writable(
+    HumanInputData.create({
+        left: { x: 0, y: 0 },
+        right: { x: 0, y: 0 },
+        height: 0.7,
+        s1: 0.5,
+        speed: 0.5
+    })
+)
 
+function enumToValuesAndLabels<T extends number>(enumObj: Record<string, T | string>) {
+    const entries = Object.entries(enumObj).filter(
+        ([key, v]) => typeof v === 'number' && key !== 'UNRECOGNIZED'
+    ) as [string, T][]
 
-// Following code is generated from CLAUDE CODE
-// Auto-generate modes array from ModesEnum (excluding UNRECOGNIZED)
-export const modes = Object.values(ModesEnum)
-    .filter((v): v is ModesEnum => typeof v === 'number' && v !== ModesEnum.UNRECOGNIZED)
+    return {
+        values: entries.map(([, v]) => v),
+        labels: Object.fromEntries(
+            entries.map(([k, v]) => [v, k.charAt(0) + k.slice(1).toLowerCase()])
+        ) as Record<T, string>
+    }
+}
 
-// Auto-generate mode labels from enum keys
-export const modeLabels: Record<ModesEnum, string> = Object.entries(ModesEnum)
-    .filter(([_, v]) => typeof v === 'number' && v !== ModesEnum.UNRECOGNIZED)
-    .reduce((acc, [key, value]) => {
-        acc[value as ModesEnum] = key.charAt(0) + key.slice(1).toLowerCase()
-        return acc
-    }, {} as Record<ModesEnum, string>)
+const modesData = enumToValuesAndLabels<ModesEnum>(ModesEnum)
+export const modes = modesData.values
+export const modeLabels = modesData.labels
 
-// Auto-generate walk gaits array from WalkGaits enum (excluding UNRECOGNIZED)
-export const walkGaits = Object.values(WalkGaits)
-    .filter((v): v is WalkGaits => typeof v === 'number' && v !== WalkGaits.UNRECOGNIZED)
-
-// Auto-generate walk gait labels from enum keys
-export const walkGaitLabels: Record<WalkGaits, string> = Object.entries(WalkGaits)
-    .filter(([_, v]) => typeof v === 'number' && v !== WalkGaits.UNRECOGNIZED)
-    .reduce((acc, [key, value]) => {
-        acc[value as WalkGaits] = key.charAt(0) + key.slice(1).toLowerCase()
-        return acc
-    }, {} as Record<WalkGaits, string>)
+const walkGaitsData = enumToValuesAndLabels<WalkGaits>(WalkGaits)
+export const walkGaits = walkGaitsData.values
+export const walkGaitLabels = walkGaitsData.labels