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

🦘 Formats gait code

Browse Source
This commit is contained in:
Rune Harlyk
2024-08-01 23:01:30 +02:00
committed by Rune Harlyk
parent 1bcebf8e00
commit 63816ba4cf
2 changed files with 3 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
esp32/lib/ESP32-sveltekit/Gait/GaitState.h
+2 -2
View File
@@ -21,9 +21,9 @@ class GaitState {
public:
virtual float getDefaultHeight() const { return 0.5f; }
virtual void begin() { ESP_LOGI("Gait Planner", "Starting %s", name()) }
virtual void begin() { ESP_LOGI("Gait Planner", "Starting %s", name()); }
virtual void end() { ESP_LOGI("Gait Planner", "Ending %s", name()) }
virtual void end() { ESP_LOGI("Gait Planner", "Ending %s", name()); }
virtual void step(body_state_t body_state, ControllerCommand command, float dt = 0.02f) {}
};
esp32/lib/ESP32-sveltekit/MotionService.h
+1 -2
View File
@@ -146,8 +146,7 @@ class MotionService {
};
float dir[12] = {1, -1, -1, -1, -1, -1, 1, -1, -1, -1, -1, -1};
float default_feet_positions[4][4] = {
{1, -1, 1, 1}, {1, -1, -1, 1}, {-1, -1, 1, 1}, {-1, -1, -1, 1}};
float default_feet_positions[4][4] = {{1, -1, 1, 1}, {1, -1, -1, 1}, {-1, -1, 1, 1}, {-1, -1, -1, 1}};
float angles[12] = {
0,