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🎨 Replace magic number for stand_frac

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Rune Harlyk
2025-07-16 21:44:46 +02:00
parent 7d0a7861ea
commit 36b39d41ba
1 changed files with 2 additions and 2 deletions
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esp32/include/gait/bezier_state.h
+2 -2
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@@ -61,8 +61,8 @@ class BezierState : public GaitState {
body_state.feet[index][2] = this->default_feet_pos[index][2]; body_state.feet[index][2] = this->default_feet_pos[index][2];
const float leg_phase = std::fmod(phase_time + PHASE_OFFSET[index], 1.0f); const float leg_phase = std::fmod(phase_time + PHASE_OFFSET[index], 1.0f);
const bool contact = leg_phase <= STAND_OFFSET; const bool contact = leg_phase <= STAND_OFFSET;
contact ? standController(body_state, index, leg_phase / 0.75) contact ? standController(body_state, index, leg_phase / STAND_OFFSET)
: swingController(body_state, index, (leg_phase - 0.75) / (1 - 0.75)); : swingController(body_state, index, (leg_phase - STAND_OFFSET) / (1 - STAND_OFFSET));
} }
void standController(body_state_t &body_state, const int index, const float phase) { void standController(body_state_t &body_state, const int index, const float phase) {