👟 Implementes bezier gait in c++

2024-11-09 14:13:16 +01:00
parent da27ba37be
commit 4de6be7815
2 changed files with 148 additions and 24 deletions
@@ -152,7 +152,7 @@ class MotionService {
    friend class GaitState;

    std::unique_ptr<GaitState> crawlGait = std::make_unique<EightPhaseWalkState>();
-    std::unique_ptr<GaitState> walkGait = std::make_unique<FourPhaseWalkState>();
+    std::unique_ptr<GaitState> walkGait = std::make_unique<BezierState>();

    MOTION_STATE motionState = MOTION_STATE::DEACTIVATED;
    unsigned long _lastUpdate;