🕊️ Renames gait folder

esp32/lib/ESP32-sveltekit/gait/four_phase_trot_state.h

@@ -0,0 +1,28 @@
+#pragma once
+
+#include <gait/phase_state_base.h>
+
+class FourPhaseWalkState : public PhaseGaitState {
+  protected:
+    const char *name() const override { return "Four phase walk"; }
+
+    int num_phases() const override { return 4; }
+
+    float phase_speed_factor() const override { return 6; }
+
+    float swing_stand_ratio() const override { return 1.0f / (num_phases() - 1); }
+
+  public:
+    FourPhaseWalkState() {
+        uint8_t contact[4][4] = {{1, 0, 1, 1}, {1, 1, 1, 0}, {1, 1, 1, 0}, {1, 0, 1, 1}};
+        for (int i = 0; i < 4; ++i) {
+            for (int j = 0; j < 4; ++j) {
+                contact_phases[i][j] = contact[i][j];
+            }
+        }
+    }
+
+    void step(body_state_t &body_state, ControllerCommand command, float dt = 0.02f) override {
+        return PhaseGaitState::step(body_state, command, dt);
+    }
+};