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

🥽 Makes use of Atan2 to calculate lateral fraction

Browse Source
This commit is contained in:
Rune Harlyk
2024-11-09 14:14:47 +01:00
committed by Rune Harlyk
parent 4de6be7815
commit 634b3292b4
2 changed files with 6 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
app/src/lib/gait.ts
+5 -6
View File
@@ -289,7 +289,6 @@ export class BezierState extends GaitState {
this.step_length = Math.sqrt(this.gait_state.step_x ** 2 + this.gait_state.step_z ** 2);
if (this.gait_state.step_x < 0) {
this.step_length = -this.step_length;
this.gait_state.step_z = -this.gait_state.step_z;
}
this.update_phase();
this.update_feet_positions();
@@ -335,7 +334,7 @@ export class BezierState extends GaitState {
...args: number[]
) {
let length = this.step_length / 2;
let angle = (this.gait_state.step_z * Math.PI) / 2;
let angle = Math.atan2(this.gait_state.step_z, this.step_length) * 2;
const delta_pos = controller(length, angle, ...args, this.phase);
length = this.gait_state.step_angle * 2;
@@ -358,13 +357,13 @@ const stance_curve = (length: number, angle: number, depth: number, phase: numbe
const step = length * (1 - 2 * phase);
const X = step * X_POLAR;
const Y = step * Y_POLAR;
let Z = 0;
const Z = step * Y_POLAR;
let Y = 0;
if (length !== 0) {
Z = -depth * Math.cos((Math.PI * (X + Y)) / (2 * length));
Y = -depth * Math.cos((Math.PI * (X + Y)) / (2 * length));
}
return [X, Z, Y];
return [X, Y, Z];
};
const yawArc = (default_foot_pos: number[], current_foot_pos: number[]): number => {