🪇 Adds early return for kinematics to reduce calc

2024-07-08 21:24:51 +02:00
parent 2689093485
commit 81f69631f9
3 changed files with 22 additions and 10 deletions
@@ -108,7 +108,6 @@ class MotionService
    }

    bool updateMotion() {
-        float new_angles[12] = {0,};
        switch (motionState) {
            case MOTION_STATE::IDLE:
                return false;
@@ -160,6 +159,7 @@ class MotionService
    constexpr static int MotionInterval = 100;

    body_state_t body_state = {0,};
+    float new_angles[12] = {0,};

    float dir[12] = {-1, -1, -1, 1, -1, -1, -1, -1, -1, 1, -1, -1};
    float default_feet_positions[4][4] = {