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🎨 Updates defaults motion smoothing

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Rune Harlyk
2025-10-11 20:51:02 +02:00
parent 0b9921e592
commit 76d965ff43
1 changed files with 1 additions and 1 deletions
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esp32/include/motion_states/state.h
+1 -1
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@@ -8,7 +8,7 @@ class MotionState {
virtual const char* name() const = 0; virtual const char* name() const = 0;
static constexpr const float (&default_feet_pos)[4][4] = KinConfig::default_feet_positions; static constexpr const float (&default_feet_pos)[4][4] = KinConfig::default_feet_positions;
body_state_t target_body_state; body_state_t target_body_state;
static constexpr float default_smoothing_factor = 0.06f; static constexpr float default_smoothing_factor = 0.03f;
float omega_offset = 0, psi_offset = 0; float omega_offset = 0, psi_offset = 0;
void lerpToBody(body_state_t& body_state, const bool imuCompensate = false, void lerpToBody(body_state_t& body_state, const bool imuCompensate = false,