From 74827526981ccb62031c4dc6b7258f04f1e96dc2 Mon Sep 17 00:00:00 2001 From: Rune Harlyk Date: Sat, 25 May 2024 14:13:47 +0200 Subject: [PATCH] =?UTF-8?q?=F0=9F=A6=BE=20Fixes=20kinematic=20leg=20orient?= =?UTF-8?q?ation?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- esp32/lib/ESP32-sveltekit/Kinematics.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/esp32/lib/ESP32-sveltekit/Kinematics.h b/esp32/lib/ESP32-sveltekit/Kinematics.h index e71d01d..8125390 100644 --- a/esp32/lib/ESP32-sveltekit/Kinematics.h +++ b/esp32/lib/ESP32-sveltekit/Kinematics.h @@ -162,10 +162,10 @@ public: {0, 0, 0, 1} }; - dspm_mult_f32_ae32((float*) Tm, (float*) point_lf, (float*) Trb, 4, 4, 4); + dspm_mult_f32_ae32((float*) Tm, (float*) point_lf, (float*) Tlf, 4, 4, 4); dspm_mult_f32_ae32((float*) Tm, (float*) point_rf, (float*) Trf, 4, 4, 4); - dspm_mult_f32_ae32((float*) Tm, (float*) point_lb, (float*) Tlf, 4, 4, 4); - dspm_mult_f32_ae32((float*) Tm, (float*) point_rb, (float*) Tlb, 4, 4, 4); + dspm_mult_f32_ae32((float*) Tm, (float*) point_lb, (float*) Tlb, 4, 4, 4); + dspm_mult_f32_ae32((float*) Tm, (float*) point_rb, (float*) Trb, 4, 4, 4); return ESP_OK; }