🎨 Simplifies spin skill

2025-09-10 21:07:38 +02:00
parent 923ea17702
commit 2b1aed91d9
5 changed files with 211 additions and 151 deletions
@@ -71,6 +71,9 @@ class WalkState : public MotionState {
    WalkState() = default;
    const char *name() const override { return "Bezier"; }

+    float getPhaseTime() const { return phase_time; }
+    float getStepLength() const { return step_length; }
+
    void set_mode_crawl(float duty = 0.85f, std::array<int, 4> order = {3, 0, 2, 1}) {
        mode = WALK_GAIT::CRAWL;
        speed_factor = 0.5;