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

🐕 Makes gaits speed variable

Browse Source
This commit is contained in:
Rune Harlyk
2024-08-03 16:02:03 +02:00
committed by Rune Harlyk
parent e532ae7929
commit 5b6f27d692
4 changed files with 31 additions and 30 deletions
Download Patch File Download Diff File Expand all files Collapse all files
esp32/lib/ESP32-sveltekit/MotionService.h
+5 -4
View File
@@ -73,14 +73,15 @@ class MotionService {
command.h = array[5];
command.s = array[6];
body_state.ym = (command.h + 128.f) * 0.75f / 100;
body_state.ym = (command.h + 127.f) * 0.75f / 100;
switch (motionState) {
case MOTION_STATE::STAND: {
body_state.phi = command.rx / 4;
body_state.psi = command.ry / 4;
body_state.phi = command.rx / 8;
body_state.psi = command.ry / 8;
body_state.xm = command.ly / 2 / 100;
body_state.zm = command.lx / 2 / 100;
body_state.updateFeet(default_feet_positions);
break;
}
}
@@ -168,7 +169,7 @@ class MotionService {
float new_angles[12] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
float dir[12] = {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}};
float default_feet_positions[4][4] = {{1, -1, 0.7, 1}, {1, -1, -0.7, 1}, {-1, -1, 0.7, 1}, {-1, -1, -0.7, 1}};
float angles[12] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
float rest_angles[12] = {0, 90, -145, 0, 90, -145, 0, 90, -145, 0, 90, -145};