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🪄 Simplifies kin code

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This commit is contained in:
Rune Harlyk
2024-05-19 19:36:05 +02:00
committed by Rune Harlyk
parent 90e72cbacc
commit 6626c2e274
2 changed files with 26 additions and 15 deletions
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esp32/lib/ESP32-sveltekit/MotionService.h
+8 -2
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@@ -106,7 +106,13 @@ class MotionService
{-100, -100, 100, 1},
{-100, -100, -100, 1}
};
position_t p = {0, 0, 0, 0, static_cast<float>(input[5]), 0, input[0]};
float lx = static_cast<float>(input[1]);
float ly = static_cast<float>(input[2]);
float rx = static_cast<float>(input[3]);
float ry = static_cast<float>(input[4]);
float h = static_cast<float>(input[5]);
float s = static_cast<float>(input[6]);
position_t p = {0, rx / 4, ry / 4, ly / 2, h, lx / 2, input[0]};
float new_angles[12] = {0,};
float dir[12] = {-1, -1, -1, 1, -1, -1, -1, -1, -1, 1, -1, -1};
@@ -120,7 +126,7 @@ class MotionService
}
}
if (updated) {
ESP_LOGI("MotionService", "New angles: %f %f %f %f %f %f %f %f %f %f %f %f", new_angles[0], new_angles[1], new_angles[2], new_angles[3], new_angles[4], new_angles[5], new_angles[6], new_angles[7], new_angles[8], new_angles[9], new_angles[10], new_angles[11]);
ESP_LOGI("MotionService", "New angles: %f %f %f %f %f %f %f %f %f %f %f %f", angles[0], angles[1], angles[2], angles[3], angles[4], angles[5], angles[6], angles[7], angles[8], angles[9], angles[10], angles[11]);
}
break;
}