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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
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@@ -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;