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✨ Makes kinematics params be based on config

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This commit is contained in:
Rune Harlyk
2025-09-04 19:08:54 +02:00
parent 1799889712
commit 767d1157df
4 changed files with 31 additions and 53 deletions
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esp32/include/kinematics.h
+8 -34
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@@ -2,9 +2,10 @@
#define Kinematics_h
#include <utils/math_utils.h>
#include <gait/kinematic_constraints.h>
struct alignas(16) body_state_t {
float omega, phi, psi, xm, ym, zm;
float omega {0}, phi {0}, psi {0}, xm {0}, ym {KinConfig::default_body_height}, zm {0};
float feet[4][4];
void updateFeet(const float newFeet[4][4]) { COPY_2D_ARRAY_4x4(feet, newFeet); }
@@ -21,33 +22,13 @@ struct alignas(16) body_state_t {
class Kinematics {
private:
#if defined(SPOTMICRO_ESP32)
static constexpr float coxa = 60.5f / 100.0f;
static constexpr float coxa_offset = 10.0f / 100.0f;
static constexpr float femur = 111.2f / 100.0f;
static constexpr float tibia = 118.5f / 100.0f;
static constexpr float coxa = KinConfig::coxa;
static constexpr float coxa_offset = KinConfig::coxa_offset;
static constexpr float femur = KinConfig::femur;
static constexpr float tibia = KinConfig::tibia;
static constexpr float L = 207.5f / 100.0f;
static constexpr float W = 78.0f / 100.0f;
#elif defined(SPOTMICRO_ESP32_MINI)
static constexpr float coxa = 35.0f / 100.0f;
static constexpr float coxa_offset = 0.0f / 100.0f;
static constexpr float femur = 52.0f / 100.0f;
static constexpr float tibia = 65.0f / 100.0f;
static constexpr float L = 120.0f / 100.0f;
static constexpr float W = 78.5f / 100.0f;
#elif defined(SPOTMICRO_YERTLE)
static constexpr float coxa = 35.0f / 100.0f;
static constexpr float coxa_offset = 0.0f;
static constexpr float femur = 130.0f / 100.0f;
static constexpr float tibia = 130.0f / 100.0f;
static constexpr float L = 240.0f / 100.0f;
static constexpr float W = 78.0f / 100.0f;
#else
#error "Must define either SPOTMICRO_ESP32 or SPOTMICRO_YERTLE"
#endif
static constexpr float L = KinConfig::L;
static constexpr float W = KinConfig::W;
static constexpr float mountOffsets[4][3] = {
{L / 2, 0, W / 2}, {L / 2, 0, -W / 2}, {-L / 2, 0, W / 2}, {-L / 2, 0, -W / 2}};
@@ -61,13 +42,6 @@ class Kinematics {
body_state_t currentState;
public:
static constexpr float default_feet_positions[4][4] = {
{mountOffsets[0][0], -1, mountOffsets[0][2] + coxa, 1},
{mountOffsets[1][0], -1, mountOffsets[1][2] - coxa, 1},
{mountOffsets[2][0], -1, mountOffsets[2][2] + coxa, 1},
{mountOffsets[3][0], -1, mountOffsets[3][2] - coxa, 1},
};
esp_err_t calculate_inverse_kinematics(const body_state_t body_state, float result[12]) {
esp_err_t ret = ESP_OK;