🕊️ Renames gait folder

2024-11-12 13:29:44 +01:00
parent 622e15278f
commit 7f03790cf7
8 changed files with 0 additions and 0 deletions
@@ -0,0 +1,17 @@
+#pragma once
+
+#include <gait/state.h>
+
+class StandState : public GaitState {
+  protected:
+    const char *name() const override { return "Stand"; }
+
+    void step(body_state_t &body_state, ControllerCommand command, float dt = 0.02f) override {
+        body_state.omega = 0;
+        body_state.phi = command.rx / 8;
+        body_state.psi = command.ry / 8;
+        body_state.xm = command.ly / 2 / 100;
+        body_state.zm = command.lx / 2 / 100;
+        body_state.updateFeet(default_feet_pos);
+    }
+};