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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_skills/skill_manager.h
+31 -4
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@@ -2,6 +2,7 @@
#include <motion_skills/skill.h>
#include <motion_skills/spin_skill.h>
#include <motion_skills/walk_skill.h>
#include <motion_states/walk_state.h>
#include <peripherals/gesture.h>
#include <esp_log.h>
@@ -28,14 +29,40 @@ class SkillManager {
std::unique_ptr<Skill> skill = nullptr;
switch (gesture) {
case gesture_t::eGestureLeft:
// Walk 1m left (90 degrees heading)
skill = std::make_unique<WalkSkill>(1.0f, 90.0f, 0.0f);
static_cast<WalkSkill*>(skill.get())->setWalkState(_walkState);
break;
case gesture_t::eGestureRight:
// Walk 1m right (-90 degrees heading)
skill = std::make_unique<WalkSkill>(1.0f, -90.0f, 0.0f);
static_cast<WalkSkill*>(skill.get())->setWalkState(_walkState);
break;
case gesture_t::eGestureUp:
// Walk 1m forward (0 degrees heading)
skill = std::make_unique<WalkSkill>(1.0f, 0.0f, 0.0f);
static_cast<WalkSkill*>(skill.get())->setWalkState(_walkState);
break;
case gesture_t::eGestureDown:
// Walk 1m backward (180 degrees heading)
skill = std::make_unique<WalkSkill>(-1.0f, 0.0f, 0.0f);
static_cast<WalkSkill*>(skill.get())->setWalkState(_walkState);
break;
case gesture_t::eGestureClockwise:
skill = std::make_unique<SpinAroundSkill>(true);
static_cast<SpinAroundSkill*>(skill.get())->setWalkState(_walkState);
// Rotate 90 degrees clockwise
skill = std::make_unique<WalkSkill>(0.0f, 0.0f, 90.0f);
static_cast<WalkSkill*>(skill.get())->setWalkState(_walkState);
break;
case gesture_t::eGestureAntiClockwise:
skill = std::make_unique<SpinAroundSkill>(false);
static_cast<SpinAroundSkill*>(skill.get())->setWalkState(_walkState);
// Rotate 90 degrees counter-clockwise
skill = std::make_unique<WalkSkill>(0.0f, 0.0f, -90.0f);
static_cast<WalkSkill*>(skill.get())->setWalkState(_walkState);
break;
default: return; // No skill mapped to this gesture