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🦾 Fixes kinematic leg orientation

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This commit is contained in:
Rune Harlyk
2024-05-25 14:13:47 +02:00
committed by Rune Harlyk
parent 05cf4fc138
commit 7482752698
1 changed files with 3 additions and 3 deletions
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esp32/lib/ESP32-sveltekit/Kinematics.h
+3 -3
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@@ -162,10 +162,10 @@ public:
{0, 0, 0, 1} {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_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_lb, (float*) Tlb, 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_rb, (float*) Trb, 4, 4, 4);
return ESP_OK; return ESP_OK;
} }