Darkages/SpotMicroESP32-Leika
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⚡️ Removes unnecessary lerp

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This commit is contained in:
Rune Harlyk
2025-07-16 20:32:46 +02:00
parent 6e10eabd9f
commit 43e76770a8
2 changed files with 2 additions and 3 deletions
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esp32/include/motion.h
+1 -2
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@@ -59,7 +59,6 @@ class MotionService {
void handleInput(JsonVariant &root, int originId) { void handleInput(JsonVariant &root, int originId) {
JsonArray array = root.as<JsonArray>(); JsonArray array = root.as<JsonArray>();
command.lx = array[1]; command.lx = array[1];
command.lx = array[1];
command.ly = array[2]; command.ly = array[2];
command.rx = array[3]; command.rx = array[3];
command.ry = array[4]; command.ry = array[4];
@@ -123,7 +122,7 @@ class MotionService {
return update_angles(new_angles, angles); return update_angles(new_angles, angles);
} }
bool update_angles(float new_angles[12], float angles[12], bool useLerp = true) { bool update_angles(float new_angles[12], float angles[12], bool useLerp = false) {
bool updated = false; bool updated = false;
for (int i = 0; i < 12; i++) { for (int i = 0; i < 12; i++) {
float new_angle = useLerp ? lerp(angles[i], new_angles[i] * dir[i], 0.3) : new_angles[i] * dir[i]; float new_angle = useLerp ? lerp(angles[i], new_angles[i] * dir[i], 0.3) : new_angles[i] * dir[i];
esp32/include/peripherals/servo_controller.h
+1 -1
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@@ -98,7 +98,7 @@ class ServoController : public StatefulService<ServoSettings> {
void calculatePWM() { void calculatePWM() {
uint16_t pwms[12]; uint16_t pwms[12];
for (int i = 0; i < 12; i++) { for (int i = 0; i < 12; i++) {
angles[i] = lerp(angles[i], target_angles[i], 0.05); angles[i] = lerp(angles[i], target_angles[i], 0.1);
auto &servo = state().servos[i]; auto &servo = state().servos[i];
float angle = servo.direction * angles[i] + servo.centerAngle; float angle = servo.direction * angles[i] + servo.centerAngle;
uint16_t pwm = angle * servo.conversion + servo.centerPwm; uint16_t pwm = angle * servo.conversion + servo.centerPwm;