From 63816ba4cfbdadd8e4888376c8140b8a8a526345 Mon Sep 17 00:00:00 2001 From: Rune Harlyk Date: Thu, 1 Aug 2024 23:01:30 +0200 Subject: [PATCH] =?UTF-8?q?=F0=9F=A6=98=20Formats=20gait=20code?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- esp32/lib/ESP32-sveltekit/Gait/GaitState.h | 4 ++-- esp32/lib/ESP32-sveltekit/MotionService.h | 3 +-- 2 files changed, 3 insertions(+), 4 deletions(-) diff --git a/esp32/lib/ESP32-sveltekit/Gait/GaitState.h b/esp32/lib/ESP32-sveltekit/Gait/GaitState.h index c4feece..890c429 100644 --- a/esp32/lib/ESP32-sveltekit/Gait/GaitState.h +++ b/esp32/lib/ESP32-sveltekit/Gait/GaitState.h @@ -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) {} }; diff --git a/esp32/lib/ESP32-sveltekit/MotionService.h b/esp32/lib/ESP32-sveltekit/MotionService.h index 72902fe..a7c4928 100644 --- a/esp32/lib/ESP32-sveltekit/MotionService.h +++ b/esp32/lib/ESP32-sveltekit/MotionService.h @@ -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,