Darkages/SpotMicroESP32-Leika
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🎨 Adds speed factor to frontend

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This commit is contained in:
Rune Harlyk
2025-09-04 14:35:25 +02:00
committed by Rune Harlyk
parent cddb6023e7
commit 1f3a465d3e
1 changed files with 4 additions and 1 deletions
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app/src/lib/gait.ts
+4 -1
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@@ -127,6 +127,7 @@ export class BezierState extends GaitState {
protected step_length = 0 protected step_length = 0
protected stand_offset = 0.85 protected stand_offset = 0.85
protected mode: 'crawl' | 'trot' = 'trot' protected mode: 'crawl' | 'trot' = 'trot'
protected speed_factor = 1
offset = [0, 0.5, 0.75, 0.25] offset = [0, 0.5, 0.75, 0.25]
constructor() { constructor() {
@@ -143,6 +144,7 @@ export class BezierState extends GaitState {
this.mode = mode this.mode = mode
if (mode === 'crawl') { if (mode === 'crawl') {
this.speed_factor = 0.1
this.stand_offset = duty ?? 0.85 this.stand_offset = duty ?? 0.85
const o = order ?? [0, 3, 1, 2] const o = order ?? [0, 3, 1, 2]
const base = [0, 0.25, 0.5, 0.75] const base = [0, 0.25, 0.5, 0.75]
@@ -150,6 +152,7 @@ export class BezierState extends GaitState {
for (let i = 0; i < 4; i++) offsets[o[i]] = base[i] for (let i = 0; i < 4; i++) offsets[o[i]] = base[i]
this.offset = offsets this.offset = offsets
} else { } else {
this.speed_factor = 1
this.stand_offset = duty ?? 0.6 this.stand_offset = duty ?? 0.6
this.offset = order ? (order.map(v => v % 1) as number[]) : [0, 0.5, 0.5, 0] this.offset = order ? (order.map(v => v % 1) as number[]) : [0, 0.5, 0.5, 0]
} }
@@ -172,7 +175,7 @@ export class BezierState extends GaitState {
update_phase() { update_phase() {
const m = this.gait_state const m = this.gait_state
if (m.step_x === 0 && m.step_z === 0 && m.step_angle === 0) return if (m.step_x === 0 && m.step_z === 0 && m.step_angle === 0) return
this.phase += this.dt * m.step_velocity * 2 this.phase += this.dt * m.step_velocity * this.speed_factor
if (this.phase >= 1) { if (this.phase >= 1) {
this.phase_num = (this.phase_num + 1) % 2 this.phase_num = (this.phase_num + 1) % 2
this.phase = 0 this.phase = 0