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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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esp32/include/kinematics.h
+18 -18
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@@ -6,26 +6,26 @@
class KinConfig {
public:
#if defined(SPOTMICRO_ESP32)
static constexpr float coxa = 60.5f / 100.0f;
static constexpr float coxa_offset = 10.0f / 100.0f;
static constexpr float femur = 111.2f / 100.0f;
static constexpr float tibia = 118.5f / 100.0f;
static constexpr float L = 207.5f / 100.0f;
static constexpr float W = 78.0f / 100.0f;
static constexpr float coxa = 0.0605f;
static constexpr float coxa_offset = 0.010f;
static constexpr float femur = 0.1112f;
static constexpr float tibia = 0.1185f;
static constexpr float L = 0.2075f;
static constexpr float W = 0.078f;
#elif defined(SPOTMICRO_ESP32_MINI)
static constexpr float coxa = 35.0f / 100.0f;
static constexpr float coxa_offset = 0.0f / 100.0f;
static constexpr float femur = 60.0f / 100.0f;
static constexpr float tibia = 60.0f / 100.0f;
static constexpr float L = 160.0f / 100.0f;
static constexpr float W = 80.0f / 100.0f;
#elif defined(SPOTMICRO_YERTLE)
static constexpr float coxa = 35.0f / 100.0f;
static constexpr float coxa = 0.035f;
static constexpr float coxa_offset = 0.0f;
static constexpr float femur = 130.0f / 100.0f;
static constexpr float tibia = 130.0f / 100.0f;
static constexpr float L = 240.0f / 100.0f;
static constexpr float W = 78.0f / 100.0f;
static constexpr float femur = 0.060f;
static constexpr float tibia = 0.060f;
static constexpr float L = 0.160f;
static constexpr float W = 0.080f;
#elif defined(SPOTMICRO_YERTLE)
static constexpr float coxa = 0.035f;
static constexpr float coxa_offset = 0.0f;
static constexpr float femur = 0.130f;
static constexpr float tibia = 0.130f;
static constexpr float L = 0.240f;
static constexpr float W = 0.078f;
#endif
static constexpr float mountOffsets[4][3] = {