📏 Adds step length slider

2024-08-03 18:13:31 +02:00
parent 8d2ca13b51
commit 4c05ba695b
5 changed files with 16 additions and 10 deletions
@@ -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;