🎨 Cleans up gait handling code

2025-09-01 22:23:02 +02:00
parent d7a6bffe0a
commit 54a0419770
12 changed files with 246 additions and 363 deletions
@@ -4,7 +4,7 @@
 #include "gait/bezier_state.h"

 void test_gaitPlanner_calculateStep_time() {
-    BezierState gaitPlanner;
+    WalkState gaitPlanner;
    body_state_t body_state = {
        128, 0, 0, 0, 0, 0, {{1, -1, 0.7, 1}, {1, -1, -0.7, 1}, {-1, -1, 0.7, 1}, {-1, -1, -0.7, 1}}};
    CommandMsg command = {0, 0, 0, 0, 0, 0, 0};