Darkages/SpotMicroESP32-Leika
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♻️ Change kinematics units to SI

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This commit is contained in:
Rune Harlyk
2025-12-24 13:40:33 +01:00
parent 3be08a31ed
commit 5e2e29d2a4
5 changed files with 114 additions and 60 deletions
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app/src/lib/kinematic.ts
+34 -3
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@@ -50,7 +50,22 @@ export default class Kinematic {
DEG2RAD = DEG2RAD
max_roll: number
max_pitch: number
max_body_shift_x: number
max_body_shift_z: number
max_leg_reach: number
min_body_height: number
max_body_height: number
body_height_range: number
max_step_length: number
max_step_height: number
default_step_depth: number
default_body_height: number
default_step_height: number
mountOffsets: number[][]
default_feet_positions: number[][]
invMountRot = [
[0, 0, -1],
@@ -66,18 +81,34 @@ export default class Kinematic {
this.L = params.L
this.W = params.W
this.max_roll = 15 * (Math.PI / 2)
this.max_pitch = 15 * (Math.PI / 2)
this.max_body_shift_x = this.W / 3
this.max_body_shift_z = this.W / 3
this.max_leg_reach = this.femur + this.tibia - this.coxa_offset
this.min_body_height = this.max_leg_reach * 0.45
this.max_body_height = this.max_leg_reach * 1
this.body_height_range = this.max_body_height - this.min_body_height
this.max_step_length = this.max_leg_reach * 0.8
this.max_step_height = this.max_leg_reach / 2
this.default_step_depth = 0.002
this.default_body_height = this.min_body_height + this.body_height_range / 2
this.default_step_height = this.default_body_height / 2
this.mountOffsets = [
[this.L / 2, 0, this.W / 2],
[this.L / 2, 0, -this.W / 2],
[-this.L / 2, 0, this.W / 2],
[-this.L / 2, 0, -this.W / 2]
]
this.default_feet_positions = this.mountOffsets.map((offset, i) => {
return [offset[0], 0, offset[2] + (i % 2 === 1 ? -this.coxa : this.coxa)]
})
}
getDefaultFeetPos(): number[][] {
return this.mountOffsets.map((offset, i) => {
return [offset[0], -1, offset[2] + (i % 2 === 1 ? -this.coxa : this.coxa)]
})
return this.default_feet_positions.map(pos => [...pos])
}
calcIK(p: body_state_t): number[] {