From 7dd5797481ba5faf7f00f69edba50ebe635c333a Mon Sep 17 00:00:00 2001 From: Rune Harlyk Date: Sun, 27 Oct 2024 11:43:48 +0100 Subject: [PATCH] =?UTF-8?q?=F0=9F=90=B9=20Fixes=20crawl=20gait=20body=20sh?= =?UTF-8?q?ift=20order?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- app/src/lib/gait.ts | 4 ++-- esp32/lib/ESP32-sveltekit/Gait/GaitState.h | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/app/src/lib/gait.ts b/app/src/lib/gait.ts index 9527b95..69ce534 100644 --- a/app/src/lib/gait.ts +++ b/app/src/lib/gait.ts @@ -237,9 +237,9 @@ export class EightPhaseWalkState extends PhaseGaitState { ]; protected shifts = [ [-0.05, 0, -0.2], - [0.3, 0, -0.2], + [0.3, 0, 0.2], [-0.05, 0, 0.2], - [0.3, 0, 0.2] + [0.3, 0, -0.2] ]; protected swing_stand_ratio = 1 / (this.num_phases - 1); diff --git a/esp32/lib/ESP32-sveltekit/Gait/GaitState.h b/esp32/lib/ESP32-sveltekit/Gait/GaitState.h index defd10c..8cb04ad 100644 --- a/esp32/lib/ESP32-sveltekit/Gait/GaitState.h +++ b/esp32/lib/ESP32-sveltekit/Gait/GaitState.h @@ -188,7 +188,7 @@ class EightPhaseWalkState : public PhaseGaitState { EightPhaseWalkState() { uint8_t contact[4][8] = { {1, 0, 1, 1, 1, 1, 1, 1}, {1, 1, 1, 1, 1, 0, 1, 1}, {1, 1, 1, 1, 1, 1, 1, 0}, {1, 1, 1, 0, 1, 1, 1, 1}}; - float shift_values[4][3] = {{-0.05f, 0, -0.2f}, {0.25f, 0, -0.2f}, {-0.05f, 0, 0.2f}, {0.25f, 0, 0.2f}}; + float shift_values[4][3] = {{-0.05f, 0, -0.2f}, {0.25f, 0, 0.2f}, {-0.05f, 0, 0.2f}, {0.25f, 0, -0.2f}}; for (uint8_t i = 0; i < 4; ++i) { for (uint8_t j = 0; j < 8; ++j) { contact_phases[i][j] = contact[i][j];