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🧄 Updates gait members to use body_state refference

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This commit is contained in:
Rune Harlyk
2024-08-03 11:44:49 +02:00
parent 4d5ea77909
commit 588952496b
1 changed files with 34 additions and 33 deletions
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esp32/lib/ESP32-sveltekit/Gait/GaitState.h
+34 -33
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@@ -15,7 +15,7 @@ struct ControllerCommand {
class GaitState { class GaitState {
protected: protected:
virtual const char* name() const = 0; virtual const char *name() const = 0;
float default_feet_positions[4][4] = {{1, -1, 1, 1}, {1, -1, -1, 1}, {-1, -1, 1, 1}, {-1, -1, -1, 1}}; float default_feet_positions[4][4] = {{1, -1, 1, 1}, {1, -1, -1, 1}, {-1, -1, 1, 1}, {-1, -1, -1, 1}};
public: public:
@@ -25,19 +25,19 @@ class GaitState {
virtual void end() { ESP_LOGI("Gait Planner", "Ending %s", name()); } virtual void end() { ESP_LOGI("Gait Planner", "Ending %s", name()); }
virtual void step(body_state_t body_state, ControllerCommand command, float dt = 0.02f) {} virtual void step(body_state_t &body_state, ControllerCommand command, float dt = 0.02f) {}
}; };
class IdleState : public GaitState { class IdleState : public GaitState {
protected: protected:
const char* name() const override { return "Idle"; } const char *name() const override { return "Idle"; }
}; };
class RestState : public GaitState { class RestState : public GaitState {
protected: protected:
const char* name() const override { return "Rest"; } const char *name() const override { return "Rest"; }
void step(body_state_t body_state, ControllerCommand command, float dt = 0.02f) override { void step(body_state_t &body_state, ControllerCommand command, float dt = 0.02f) override {
body_state.omega = 0; body_state.omega = 0;
body_state.phi = 0; body_state.phi = 0;
body_state.psi = 0; body_state.psi = 0;
@@ -50,9 +50,9 @@ class RestState : public GaitState {
class StandState : public GaitState { class StandState : public GaitState {
protected: protected:
const char* name() const override { return "Stand"; } const char *name() const override { return "Stand"; }
void step(body_state_t body_state, ControllerCommand command, float dt = 0.02f) override { void step(body_state_t &body_state, ControllerCommand command, float dt = 0.02f) override {
body_state.omega = 0; body_state.omega = 0;
body_state.phi = command.rx / 8; body_state.phi = command.rx / 8;
body_state.psi = command.ry / 8; body_state.psi = command.ry / 8;
@@ -77,12 +77,12 @@ class PhaseGaitState : public GaitState {
gait_state_t gait_state; gait_state_t gait_state;
float dt = 0.02f; float dt = 0.02f;
void step(body_state_t body_state, ControllerCommand command, float dt = 0.02f) override { void step(body_state_t &body_state, ControllerCommand command, float dt = 0.02f) override {
this->gait_state = mapCommand(command); this->gait_state = mapCommand(command);
this->dt = dt; this->dt = dt;
updatePhase(); updatePhase();
updateBodyPosition(body_state); updateBodyPosition(body_state);
updateFeetPositions(body_state.feet); updateFeetPositions(body_state);
} }
void updatePhase() { void updatePhase() {
@@ -96,55 +96,56 @@ class PhaseGaitState : public GaitState {
} }
} }
void updateBodyPosition(body_state_t body_state) { void updateBodyPosition(body_state_t &body_state) {
if (num_phases() == 4) return; if (num_phases() == 4) return;
const auto& shift = shifts[phase / 2]; const auto &shift = shifts[phase / 2];
body_state.xm += (shift[0] - body_state.xm) * dt * 4; body_state.xm += (shift[0] - body_state.xm) * dt * 4;
body_state.zm += (shift[2] - body_state.zm) * dt * 4; body_state.zm += (shift[2] - body_state.zm) * dt * 4;
} }
void updateFeetPositions(float feet[4][4]) { void updateFeetPositions(body_state_t &body_state) {
for (int i = 0; i < 4; ++i) { for (int i = 0; i < 4; ++i) {
updateFootPosition(feet[i], i); updateFootPosition(body_state, i);
} }
} }
void updateFootPosition(float foot[4], int index) { void updateFootPosition(body_state_t &body_state, int index) {
bool contact = contact_phases[index][phase]; bool contact = contact_phases[index][phase];
contact ? stand(foot, index) : swing(foot, index); contact ? stand(body_state, index) : swing(body_state, index);
} }
void stand(float foot[4], int index) { void stand(body_state_t &body_state, int index) {
float delta_pos[3] = {-gait_state.step_x * dt * swing_stand_ratio(), 0, float delta_pos[3] = {-gait_state.step_x * dt * swing_stand_ratio(), 0,
-gait_state.step_z * dt * swing_stand_ratio()}; -gait_state.step_z * dt * swing_stand_ratio()};
foot[0] += delta_pos[0]; body_state.feet[index][0] += delta_pos[0];
foot[1] = default_feet_positions[index][1]; body_state.feet[index][1] = default_feet_positions[index][1];
foot[2] += delta_pos[2]; body_state.feet[index][2] += delta_pos[2];
} }
void swing(float foot[4], int index) { void swing(body_state_t &body_state, int index) {
float delta_pos[3] = {gait_state.step_x * dt, 0, gait_state.step_z * dt}; float delta_pos[3] = {gait_state.step_x * dt, 0, gait_state.step_z * dt};
if (gait_state.step_x == 0) { if (std::fabs(gait_state.step_x) < 0.01) {
delta_pos[0] = (default_feet_positions[index][0] - foot[0]) * dt * 8; delta_pos[0] = (default_feet_positions[index][0] - body_state.feet[index][0]) * dt * 8;
} }
if (gait_state.step_z == 0) { if (std::fabs(gait_state.step_z) < 0.01) {
delta_pos[2] = (default_feet_positions[index][2] - foot[2]) * dt * 8; delta_pos[2] = (default_feet_positions[index][2] - body_state.feet[index][2]) * dt * 8;
} }
foot[0] += delta_pos[0]; body_state.feet[index][0] += delta_pos[0];
foot[1] = default_feet_positions[index][1] + std::sin(phase_time * M_PI) * gait_state.step_height; body_state.feet[index][1] =
foot[2] += delta_pos[2]; default_feet_positions[index][1] + std::sin(phase_time * M_PI) * gait_state.step_height;
body_state.feet[index][2] += delta_pos[2];
} }
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; state.step_height = 0.4f;
state.step_x = std::round(command.ly * 10) / 10 * 3; state.step_x = command.ly / 128 * 3;
state.step_z = -std::round(command.lx * 10) / 10 * 3; state.step_z = -command.lx / 128 * 3;
state.step_velocity = 1; state.step_velocity = 1;
state.step_angle = 0; state.step_angle = 0;
return state; return state;
@@ -153,7 +154,7 @@ class PhaseGaitState : public GaitState {
class FourPhaseWalkState : public PhaseGaitState { class FourPhaseWalkState : public PhaseGaitState {
protected: protected:
const char* name() const override { return "Four phase walk"; } const char *name() const override { return "Four phase walk"; }
int num_phases() const override { return 4; } int num_phases() const override { return 4; }
@@ -171,14 +172,14 @@ class FourPhaseWalkState : public PhaseGaitState {
} }
} }
void step(body_state_t body_state, ControllerCommand command, float dt = 0.02f) override { void step(body_state_t &body_state, ControllerCommand command, float dt = 0.02f) override {
return PhaseGaitState::step(body_state, command, dt); return PhaseGaitState::step(body_state, command, dt);
} }
}; };
class EightPhaseWalkState : public PhaseGaitState { class EightPhaseWalkState : public PhaseGaitState {
protected: protected:
const char* name() const override { return "Eight phase walk"; } const char *name() const override { return "Eight phase walk"; }
int num_phases() const override { return 8; } int num_phases() const override { return 8; }
@@ -201,7 +202,7 @@ class EightPhaseWalkState : public PhaseGaitState {
} }
} }
void step(body_state_t body_state, ControllerCommand command, float dt = 0.02f) override { void step(body_state_t &body_state, ControllerCommand command, float dt = 0.02f) override {
return PhaseGaitState::step(body_state, command, dt); return PhaseGaitState::step(body_state, command, dt);
} }
}; };