🐕 Makes gaits speed variable

2024-08-03 16:02:03 +02:00
parent e532ae7929
commit 5b6f27d692
4 changed files with 31 additions and 30 deletions
@@ -43,6 +43,8 @@
        [ModesEnum.Crawl]: new EightPhaseWalkState(),
        [ModesEnum.Walk]: new FourPhaseWalkState()
    }
+    let lastTick = performance.now()
+
    const dir = [1, -1, -1, -1, -1, -1, 1, -1, -1, -1, -1, -1]

    let body_state = {
@@ -244,11 +246,13 @@
            h: controlData[5],
            s: controlData[6],
        };
-        body_state.ym = ((data.h + 128) * 0.75) / 100;
+        body_state.ym = ((data.h + 127) * 0.75) / 100;

        let planner = planners[get(mode)]
+        const delta = performance.now() - lastTick
+        lastTick = performance.now()
        
-        body_state = planner.step(body_state, data);
+        body_state = planner.step(body_state, data, delta);

        settings.omega = body_state.omega
        settings.phi = body_state.phi