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🎨 Matches command mapping in frontend

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This commit is contained in:
Rune Harlyk
2025-07-16 21:46:01 +02:00
parent 36b39d41ba
commit 7061166fcd
1 changed files with 8 additions and 7 deletions
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app/src/lib/gait.ts
+8 -7
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@@ -62,8 +62,8 @@ export abstract class GaitState {
map_command(command: ControllerCommand) { map_command(command: ControllerCommand) {
const newCommand = { const newCommand = {
step_height: 0.4 + (command.s1 / 128 + 1) / 2, step_height: 0.4 + (command.s1 / 128 + 1) / 2,
step_x: Math.floor((command.ly / 128) * 10) / 10, step_x: command.ly / 128,
step_z: -(Math.floor((command.lx / 128) * 10) / 10), step_z: -command.lx / 128,
step_velocity: command.s / 128 + 1, step_velocity: command.s / 128 + 1,
step_angle: command.rx / 128, step_angle: command.rx / 128,
step_depth: 0.002 step_depth: 0.002
@@ -265,6 +265,7 @@ export class BezierState extends GaitState {
protected phase = 0 protected phase = 0
protected phase_num = 0 protected phase_num = 0
protected step_length: number = 0 protected step_length: number = 0
protected stand_offset = 0.75
offset = [0, 0.5, 0.5, 0] offset = [0, 0.5, 0.5, 0]
begin() { begin() {
@@ -309,18 +310,18 @@ export class BezierState extends GaitState {
this.body_state.feet[index][0] = this.default_feet_pos[index][0] this.body_state.feet[index][0] = this.default_feet_pos[index][0]
this.body_state.feet[index][1] = this.default_feet_pos[index][1] this.body_state.feet[index][1] = this.default_feet_pos[index][1]
this.body_state.feet[index][2] = this.default_feet_pos[index][2] this.body_state.feet[index][2] = this.default_feet_pos[index][2]
return phase <= 0.75 ? return phase <= this.stand_offset ?
this.stand_controller(index, phase / 0.75) this.stand_controller(index, phase / this.stand_offset)
: this.swing_controller(index, (phase - 0.75) / (1 - 0.75)) : this.swing_controller(index, (phase - this.stand_offset) / (1 - this.stand_offset))
} }
stand_controller(index: number, phase: number) { stand_controller(index: number, phase: number) {
let depth = this.gait_state.step_depth const depth = this.gait_state.step_depth
return this.controller(index, phase, stance_curve, depth) return this.controller(index, phase, stance_curve, depth)
} }
swing_controller(index: number, phase: number) { swing_controller(index: number, phase: number) {
let height = this.gait_state.step_height const height = this.gait_state.step_height
return this.controller(index, phase, bezier_curve, height) return this.controller(index, phase, bezier_curve, height)
} }