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👔 Calculate default feet positions from kinematics

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This commit is contained in:
Rune Harlyk
2025-07-02 22:53:58 +02:00
parent 4101ad033c
commit 632f603fda
2 changed files with 15 additions and 5 deletions
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esp32/lib/ESP32-sveltekit/kinematics.h
+8 -1
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@@ -35,7 +35,7 @@ class Kinematics {
static constexpr float l3 = 130.0f / 100.0f;
static constexpr float l4 = 130.0f / 100.0f;
static constexpr float L = 207.5f / 100.0f;
static constexpr float L = 240.0f / 100.0f;
static constexpr float W = 78.0f / 100.0f;
#else
#error "Must define either SPOTMICRO_ESP32 or SPOTMICRO_YERTLE"
@@ -53,6 +53,13 @@ class Kinematics {
body_state_t currentState;
public:
static constexpr float default_feet_positions[4][4] = {
{mountOffsets[0][0], -1, mountOffsets[0][2] + l1, 1},
{mountOffsets[1][0], -1, mountOffsets[1][2] - l1, 1},
{mountOffsets[2][0], -1, mountOffsets[2][2] + l1, 1},
{mountOffsets[3][0], -1, mountOffsets[3][2] - l1, 1},
};
esp_err_t calculate_inverse_kinematics(const body_state_t body_state, float result[12]) {
esp_err_t ret = ESP_OK;