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🎨 Simplifies spin skill

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This commit is contained in:
Rune Harlyk
2025-09-10 21:07:38 +02:00
parent 923ea17702
commit 2b1aed91d9
5 changed files with 211 additions and 151 deletions
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esp32/include/motion.h
+19 -37
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@@ -113,42 +113,26 @@ class MotionService {
if (ges != gesture_t::eGestureNone) {
ESP_LOGI("Motion", "Gesture: %d", ges);
// Check if this gesture maps to a skill
if (ges == gesture_t::eGestureClockwise || ges == gesture_t::eGestureAntiClockwise) {
skillManager.queueGestureSkill(ges);
return; // Let skill manager handle state transitions
}
// Handle basic gestures that don't require skills
switch (ges) {
case gesture_t::eGestureDown:
skillManager.clearQueue(); // Clear any running skills
if (state == &restState) {
_servoController->deactivate();
setState(nullptr);
} else if (state == &standState)
setState(&restState);
else if (state == &walkState)
setState(&standState);
break;
case gesture_t::eGestureUp:
skillManager.clearQueue(); // Clear any running skills
if (!state) {
_servoController->activate();
setState(&restState);
} else if (state == &restState)
setState(&standState);
else if (state == &standState)
setState(&walkState);
break;
break;
case gesture_t::eGestureLeft:
case gesture_t::eGestureRight:
skillManager.clearQueue(); // Clear any running skills
if (ges == gesture_t::eGestureUp) {
skillManager.clearQueue();
if (!state) {
_servoController->activate();
setState(&restState);
} else if (state == &restState)
setState(&standState);
else if (state == &standState)
setState(&walkState);
break;
default: break;
} else if (ges == gesture_t::eGestureDown) {
skillManager.clearQueue();
if (state == &restState) {
_servoController->deactivate();
setState(nullptr);
} else if (state == &standState)
setState(&restState);
else if (state == &walkState)
setState(&standState);
} else {
skillManager.queueGestureSkill(ges);
}
}
}
@@ -160,10 +144,8 @@ class MotionService {
float dt = (now - lastUpdate) / 1000.0f;
lastUpdate = now;
// Update skill manager
skillManager.update(body_state, state, _peripherals, dt);
// If a skill is active and requires a specific state, ensure we're in that state
if (skillManager.hasActiveSkill()) {
MotionState *requiredState = skillManager.getCurrentSkillRequiredState();
if (requiredState && state != requiredState) {