Darkages/SpotMicroESP32-Leika
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♻️ Makes smoothing be a const

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This commit is contained in:
Rune Harlyk
2026-01-02 23:08:03 +01:00
parent 4da929a6de
commit 3451b93743
1 changed files with 9 additions and 8 deletions
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app/src/lib/components/Visualization.svelte
+9 -8
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@@ -55,6 +55,7 @@
let currentModelAngles: number[] = new Array(12).fill(0) let currentModelAngles: number[] = new Array(12).fill(0)
let modelTargetAngles: number[] = new Array(12).fill(0) let modelTargetAngles: number[] = new Array(12).fill(0)
let gui_panel: GUI let gui_panel: GUI
const SMOOTH_AMOUNT = 0.2
let target: Object3D<Object3DEventMap> let target: Object3D<Object3DEventMap>
@@ -238,12 +239,12 @@
robot.position.x = smooth( robot.position.x = smooth(
robot.position.x, robot.position.x,
(-rotatedZm - body_state.cumulative_z) * THREEJS_SCALE, (-rotatedZm - body_state.cumulative_z) * THREEJS_SCALE,
0.1 SMOOTH_AMOUNT
) )
robot.position.z = smooth( robot.position.z = smooth(
robot.position.z, robot.position.z,
(-rotatedXm - body_state.cumulative_x) * THREEJS_SCALE, (-rotatedXm - body_state.cumulative_x) * THREEJS_SCALE,
0.1 SMOOTH_AMOUNT
) )
const pitch = degToRad(settings.psi - 90) + body_state.cumulative_pitch const pitch = degToRad(settings.psi - 90) + body_state.cumulative_pitch
@@ -252,10 +253,10 @@
robot.rotation.z = smooth( robot.rotation.z = smooth(
robot.rotation.z, robot.rotation.z,
degToRad(-settings.phi + $mpu.heading + 90) + cumulativeYaw, degToRad(-settings.phi + $mpu.heading + 90) + cumulativeYaw,
0.1 SMOOTH_AMOUNT
) )
robot.rotation.y = smooth(robot.rotation.y, roll, 0.1) robot.rotation.y = smooth(robot.rotation.y, roll, SMOOTH_AMOUNT)
robot.rotation.x = smooth(robot.rotation.x, pitch, 0.1) robot.rotation.x = smooth(robot.rotation.x, pitch, SMOOTH_AMOUNT)
} }
const update_camera = (robot: URDFRobot) => { const update_camera = (robot: URDFRobot) => {
@@ -307,8 +308,8 @@
const updateTargetPosition = () => { const updateTargetPosition = () => {
target.visible = settings['Target position'] target.visible = settings['Target position']
target.position.x = smooth(target.position.x, target_position.x, 0.5) target.position.x = smooth(target.position.x, target_position.x, SMOOTH_AMOUNT)
target.position.z = smooth(target.position.z, target_position.z, 0.5) target.position.z = smooth(target.position.z, target_position.z, SMOOTH_AMOUNT)
} }
const render = () => { const render = () => {
@@ -330,7 +331,7 @@
currentModelAngles[i] = smooth( currentModelAngles[i] = smooth(
(robot.joints[$jointNames[i]].angle as number) * (180 / Math.PI), (robot.joints[$jointNames[i]].angle as number) * (180 / Math.PI),
modelTargetAngles[i], modelTargetAngles[i],
0.1 SMOOTH_AMOUNT
) )
robot.joints[$jointNames[i]].setJointValue(degToRad(currentModelAngles[i])) robot.joints[$jointNames[i]].setJointValue(degToRad(currentModelAngles[i]))
} }