🪠 Removes feature code

app/src/lib/components/Visualization.svelte

@@ -45,7 +45,7 @@
     ];
 
     let settings = {
-        'Internal kinematic':true,
+        'Internal kinematic':false,
         'Robot transform controls':false,
         'Auto orient robot':true,
         'Trace feet':debug,
@@ -87,14 +87,6 @@
                     settings.x = data.ly / 2 
                     settings.z = data.lx / 2
                     break;
-
-                case ModesEnum.Walk:
-                    // target_position.yaw += data.lx / 100
-                    // const angle = radToDeg(Math.atan2(data.rx, data.ry)) - 90 + $mpu.heading + target_position.yaw;
-                    // const distance = Math.sqrt(data.rx**2 + data.ry**2) / 25
-                    // target_position.x = distance * Math.cos(degToRad(angle))
-                    // target_position.z = distance * Math.sin(degToRad(angle))
-                    break;
             }
         })
 	});
@@ -267,6 +259,11 @@
         settings.z = -robot.position.x * 100
     }
 
+    const updateTargetPosition = () => {
+        target.position.x = lerp(target.position.x, target_position.x, 0.5)
+        target.position.z = lerp(target.position.z, target_position.z, 0.5)
+    }
+
 	const render = () => {
 		const robot = sceneManager.model;
 		if (!robot) return;
@@ -293,10 +290,7 @@
         }
 
         orient_robot(robot, toes) 
-
-        target.position.x = lerp(target.position.x, target_position.x, 0.5)
-        // target.position.y = lerp(target.position.y, robot.position.y, 0.5)
-        target.position.z = lerp(target.position.z, target_position.z, 0.5)
+        updateTargetPosition();
 	};
 
 

app/src/lib/kinematic.ts

@@ -33,7 +33,7 @@ export default class Kinematic {
 	L: number;
 	W: number;
 
-	DEGREES2RAD = 0.017453292519943;
+	DEG2RAD = 0.017453292519943;
 
 	sHp = sin(Math.PI / 2);
 	cHp = cos(Math.PI / 2);
@@ -115,12 +115,12 @@ export default class Kinematic {
 	}
 
 	bodyIK(p: body_state_t) {
-		const cos_omega = cos(p.omega * this.DEGREES2RAD);
-		const sin_omega = sin(p.omega * this.DEGREES2RAD);
-		const cos_phi = cos(p.phi * this.DEGREES2RAD);
-		const sin_phi = sin(p.phi * this.DEGREES2RAD);
-		const cos_psi = cos(p.psi * this.DEGREES2RAD);
-		const sin_psi = sin(p.psi * this.DEGREES2RAD);
+		const cos_omega = cos(p.omega * this.DEG2RAD);
+		const sin_omega = sin(p.omega * this.DEG2RAD);
+		const cos_phi = cos(p.phi * this.DEG2RAD);
+		const sin_phi = sin(p.phi * this.DEG2RAD);
+		const cos_psi = cos(p.psi * this.DEG2RAD);
+		const sin_psi = sin(p.psi * this.DEG2RAD);
 
 		const Tm: number[][] = [
 			[cos_phi * cos_psi, -sin_psi * cos_phi, sin_phi, p.xm],

app/src/lib/stores/model-store.ts

@@ -19,7 +19,7 @@ export enum ModesEnum {
 	Walk
 }
 
-export const mode: Writable<ModesEnum> = writable(ModesEnum.Walk);
+export const mode: Writable<ModesEnum> = writable(ModesEnum.Idle);
 
 export const outControllerData = writable([0, 0, 0, 0, 0, 70, 0]);