🪇 Adds early return for kinematics to reduce calc

esp32/features.ini

@@ -7,7 +7,7 @@ build_flags =
   -D FT_UPLOAD_FIRMWARE=0
   -D FT_DOWNLOAD_FIRMWARE=0
   -D FT_ANALYTICS=1
-  -D FT_MOTION=0
+  -D FT_MOTION=1
 
   ; Hardware specific
   -D FT_IMU=0

esp32/lib/ESP32-sveltekit/Kinematics.h

@@ -7,7 +7,7 @@
 #define RAD2DEG 57.295779513082321 // 180 / PI
 #define DEG2RAD 0.017453292519943
 
-typedef struct {
+struct body_state_t {
     float omega, phi, psi, xm, ym, zm;
     float feet[4][4];
 
@@ -18,17 +18,24 @@ typedef struct {
             }
         }
     }
-} body_state_t;
 
-class Kinematics
+    bool isEqual(const body_state_t &other) const {
-{
+        if (omega != other.omega || phi != other.phi || psi != other.psi ||
-private:
+            xm != other.xm || ym != other.ym || zm != other.zm) {
+            return false;
+        }
+        return memcmp(feet, other.feet, sizeof(feet)) == 0;
+    }
+};
+
+class Kinematics {
+   private:
     float Trb[4][4] = {0,};
     float Trf[4][4] = {0,};
     float Tlb[4][4] = {0,};
     float Tlf[4][4] = {0,};
 
-    const float Ix[4][4] = {{-1,0,0,0},{0,1,0,0},{0,0,1,0},{0,0,0,1}};
+    const float Ix[4][4] = {{-1, 0, 0, 0}, {0, 1, 0, 0}, {0, 0, 1, 0}, {0, 0, 0, 1}};
     float inv[4][4];
     float point[4];
     float Q1[4][4];
@@ -38,6 +45,8 @@ private:
 
     float point_lf[4][4];
 
+    body_state_t currentState;
+
    public:
     float l1, l2, l3, l4;
     float L, W;
@@ -53,10 +62,13 @@ private:
     }
     ~Kinematics() {}
 
-    esp_err_t calculate_inverse_kinematics(body_state_t body_state, float result[12]) {
+    esp_err_t calculate_inverse_kinematics(const body_state_t body_state, float result[12]) {
         esp_err_t ret = ESP_OK;
 
+        if (currentState.isEqual(body_state)) return ESP_OK;
+                
         ret = bodyIK(body_state);
+        currentState = body_state;
 
         ret += inverse(Tlf, inv);
         dspm_mult_f32_ae32((float*) inv, (float*) body_state.feet[0], (float*) point, 4, 4, 1);
@@ -79,7 +91,7 @@ private:
         return ret;
     }
 
-    esp_err_t bodyIK(body_state_t p) {
+    esp_err_t bodyIK(const body_state_t p) {
         float cos_omega = cos(p.omega * DEG2RAD);
         float sin_omega = sin(p.omega * DEG2RAD);
         float cos_phi = cos(p.phi * DEG2RAD);

esp32/lib/ESP32-sveltekit/MotionService.h

@@ -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] = {