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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/motion.h
+5 -5
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@@ -39,7 +39,7 @@ class MotionService {
socket.onSubscribe(ANGLES_EVENT,
std::bind(&MotionService::syncAngles, this, std::placeholders::_1, std::placeholders::_2));
body_state.updateFeet(kinematics.default_feet_positions);
body_state.updateFeet(KinConfig::default_feet_positions);
}
void anglesEvent(JsonVariant &root, int originId) {
@@ -63,7 +63,7 @@ class MotionService {
void handleInput(JsonVariant &root, int originId) {
command.fromJson(root);
body_state.ym = command.h - 0.5f;
body_state.ym = KinConfig::min_body_height + command.h * KinConfig::body_height_range;
switch (motionState) {
case MOTION_STATE::STAND: {
@@ -71,7 +71,7 @@ class MotionService {
body_state.psi = command.ry * KinConfig::max_pitch;
body_state.xm = command.ly * KinConfig::max_body_shift_x;
body_state.zm = command.lx * KinConfig::max_body_shift_z;
body_state.updateFeet(kinematics.default_feet_positions);
body_state.updateFeet(KinConfig::default_feet_positions);
break;
}
case MOTION_STATE::WALK: {
@@ -159,8 +159,8 @@ class MotionService {
MOTION_STATE motionState = MOTION_STATE::DEACTIVATED;
unsigned long _lastUpdate;
body_state_t target_body_state = {0, 0, 0, 0, 0, 0};
body_state_t body_state = {0, 0, 0, 0, 0, 0};
body_state_t target_body_state;
body_state_t body_state;
gait_state_t gait_state;
float new_angles[12] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};