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📏 Adds step length slider

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This commit is contained in:
Rune Harlyk
2024-08-03 18:13:31 +02:00
committed by Rune Harlyk
parent 8d2ca13b51
commit 4c05ba695b
5 changed files with 16 additions and 10 deletions
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esp32/lib/ESP32-sveltekit/Gait/GaitState.h
+4 -4
View File
@@ -10,7 +10,7 @@ struct gait_state_t {
struct ControllerCommand {
int stop;
float lx, ly, rx, ry, h, s;
float lx, ly, rx, ry, h, s, s1;
};
class GaitState {
@@ -140,9 +140,9 @@ class PhaseGaitState : public GaitState {
gait_state_t mapCommand(ControllerCommand command) {
gait_state_t state;
state.step_height = 0.4f + std::fabs(command.ry / 128);
state.step_x = command.ly / 128;
state.step_z = -command.lx / 128;
state.step_height = (command.s1 / 128 + 1) / 2;
state.step_x = command.ly / 128 * 2;
state.step_z = -command.lx / 128 * 2;
state.step_velocity = command.s / 128 + 1;
state.step_angle = 0;
return state;
esp32/lib/ESP32-sveltekit/MotionService.h
+3 -2
View File
@@ -72,8 +72,9 @@ class MotionService {
command.ry = array[4];
command.h = array[5];
command.s = array[6];
command.s1 = array[7];
body_state.ym = (command.h + 127.f) * 0.75f / 100;
body_state.ym = (command.h + 127.f) * 0.35f / 100;
switch (motionState) {
case MOTION_STATE::STAND: {
@@ -154,7 +155,7 @@ class MotionService {
TaskManager *_taskManager;
ServoController *_servoController;
Kinematics kinematics;
ControllerCommand command = {0, 0, 0, 0, 0, 0, 0};
ControllerCommand command = {0, 0, 0, 0, 0, 0, 0, 0};
friend class GaitState;