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🥽 Makes use of Atan2 to calculate lateral fraction

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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
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esp32/lib/ESP32-sveltekit/Gait/GaitState.h
+1 -2
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@@ -220,7 +220,6 @@ class BezierState : public GaitState {
step_length = std::sqrt(gait_state.step_x * gait_state.step_x + gait_state.step_z * gait_state.step_z);
if (gait_state.step_x < 0.0f) {
step_length = -step_length;
gait_state.step_z = -gait_state.step_z;
}
updatePhase(dt);
updateFeetPositions(body_state);
@@ -261,7 +260,7 @@ class BezierState : public GaitState {
void controller(const int index, body_state_t &body_state,
std::function<void(float, float, float *, float, float *)> curve, float *arg) {
float length = step_length / 2.0f;
float angle = gait_state.step_z * M_PI_2;
float angle = std::atan2(gait_state.step_z, step_length) * 2;
float point[3] = {0, 0, 0};
curve(length, angle, arg, phase_time, point);