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✨ Introduces kinmatics config to sync mapping between variants

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This commit is contained in:
Rune Harlyk
2025-09-04 18:02:38 +02:00
parent 0b5d7b1534
commit 1799889712
4 changed files with 78 additions and 20 deletions
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esp32/include/motion.h
+11 -10
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@@ -9,6 +9,7 @@
#include <gait/state.h>
#include <gait/walk_state.h>
#include <gait/kinematic_constraints.h>
#include <message_types.h>
#define DEFAULT_STATE false
@@ -62,24 +63,24 @@ class MotionService {
void handleInput(JsonVariant &root, int originId) {
command.fromJson(root);
body_state.ym = command.h * 1.f - 0.5f;
body_state.ym = command.h - 0.5f;
switch (motionState) {
case MOTION_STATE::STAND: {
body_state.phi = command.rx * 10 * (float)M_PI_2;
body_state.psi = command.ry * 10 * (float)M_PI_2;
body_state.xm = command.ly / 4;
body_state.zm = command.lx / 4;
body_state.phi = command.rx * KinConfig::max_roll;
body_state.psi = command.ry * KinConfig::max_pitch;
body_state.xm = command.ly * KinConfig::max_body_shift_x;
body_state.zm = command.lx * KinConfig::max_body_shift_z;
body_state.updateFeet(kinematics.default_feet_positions);
break;
}
case MOTION_STATE::WALK: {
gait_state.step_height = 0.4 + (command.s1 + 1) / 2;
gait_state.step_x = command.ly;
gait_state.step_z = -command.lx;
gait_state.step_height = KinConfig::default_step_height + command.s1;
gait_state.step_x = command.ly * KinConfig::max_step_length;
gait_state.step_z = -command.lx * KinConfig::max_step_length;
gait_state.step_velocity = command.s;
gait_state.step_angle = command.rx;
gait_state.step_depth = 0.002;
gait_state.step_depth = KinConfig::default_step_depth;
break;
}
}
@@ -160,7 +161,7 @@ class MotionService {
body_state_t target_body_state = {0, 0, 0, 0, 0, 0};
body_state_t body_state = {0, 0, 0, 0, 0, 0};
gait_state_t gait_state = {12, 0, 0, 0, 1, 0.002};
gait_state_t gait_state;
float new_angles[12] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
float angles[12] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};