Darkages/SpotMicroESP32-Leika
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

📏 Adds step length slider

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
app/src/lib/models.ts
+1
View File
@@ -5,6 +5,7 @@ export interface ControllerInput {
right: vector; right: vector;
height: number; height: number;
speed: number; speed: number;
s1: number;
} }
export type GithubRelease = { export type GithubRelease = {
app/src/lib/stores/model-store.ts
+2 -1
View File
@@ -32,5 +32,6 @@ export const input: Writable<ControllerInput> = writable({
left: { x: 0, y: 0 }, left: { x: 0, y: 0 },
right: { x: 0, y: 0 }, right: { x: 0, y: 0 },
height: 50, height: 50,
speed: 50 speed: 50,
s1: 50
}); });
app/src/routes/controller/Controls.svelte
+6 -3
View File
@@ -10,7 +10,7 @@
let right: nipplejs.JoystickManager; let right: nipplejs.JoystickManager;
let throttle_timing = 40; let throttle_timing = 40;
let data = new Array(7); let data = new Array(8);
onMount(() => { onMount(() => {
left = nipplejs.create({ left = nipplejs.create({
@@ -51,6 +51,7 @@
data[4] = toInt8($input.right.y, -1, 1); data[4] = toInt8($input.right.y, -1, 1);
data[5] = toInt8($input.height, 0, 100); data[5] = toInt8($input.height, 0, 100);
data[6] = toInt8($input.speed, 0, 100); data[6] = toInt8($input.speed, 0, 100);
data[7] = toInt8($input.s1, 0, 100);
outControllerData.set(data); outControllerData.set(data);
}; };
@@ -67,7 +68,7 @@
throttle.throttle(updateData, throttle_timing); throttle.throttle(updateData, throttle_timing);
}; };
const handleRange = (event:Event, key: 'speed' | 'height') => { const handleRange = (event:Event, key: 'speed' | 'height' | 's1') => {
const value:number = event.target?.value const value:number = event.target?.value
input.update((inputData) => { input.update((inputData) => {
@@ -107,7 +108,9 @@
</button> </button>
{/each} {/each}
<div> <div>
{#if $mode === ModesEnum.Walk} {#if $mode === ModesEnum.Walk || $mode === ModesEnum.Crawl}
<label for="s1">S1</label>
<input type="range" name="s1" min="0" max="100" on:input={(e) => handleRange(e, 's1')} class="range range-sm" />
<label for="speed">Speed</label> <label for="speed">Speed</label>
<input type="range" name="speed" min="0" max="100" on:input={(e) => handleRange(e, 'speed')} class="range range-sm" /> <input type="range" name="speed" min="0" max="100" on:input={(e) => handleRange(e, 'speed')} class="range range-sm" />
{/if} {/if}
esp32/lib/ESP32-sveltekit/Gait/GaitState.h
+4 -4
View File
@@ -10,7 +10,7 @@ struct gait_state_t {
struct ControllerCommand { struct ControllerCommand {
int stop; int stop;
float lx, ly, rx, ry, h, s; float lx, ly, rx, ry, h, s, s1;
}; };
class GaitState { class GaitState {
@@ -140,9 +140,9 @@ class PhaseGaitState : public GaitState {
gait_state_t mapCommand(ControllerCommand command) { gait_state_t mapCommand(ControllerCommand command) {
gait_state_t state; gait_state_t state;
state.step_height = 0.4f + std::fabs(command.ry / 128); state.step_height = (command.s1 / 128 + 1) / 2;
state.step_x = command.ly / 128; state.step_x = command.ly / 128 * 2;
state.step_z = -command.lx / 128; state.step_z = -command.lx / 128 * 2;
state.step_velocity = command.s / 128 + 1; state.step_velocity = command.s / 128 + 1;
state.step_angle = 0; state.step_angle = 0;
return state; return state;
esp32/lib/ESP32-sveltekit/MotionService.h
+3 -2
View File
@@ -72,8 +72,9 @@ class MotionService {
command.ry = array[4]; command.ry = array[4];
command.h = array[5]; command.h = array[5];
command.s = array[6]; 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) { switch (motionState) {
case MOTION_STATE::STAND: { case MOTION_STATE::STAND: {
@@ -154,7 +155,7 @@ class MotionService {
TaskManager *_taskManager; TaskManager *_taskManager;
ServoController *_servoController; ServoController *_servoController;
Kinematics kinematics; Kinematics kinematics;
ControllerCommand command = {0, 0, 0, 0, 0, 0, 0}; ControllerCommand command = {0, 0, 0, 0, 0, 0, 0, 0};
friend class GaitState; friend class GaitState;