From 8f64edc3e4a1a4143e0550692b715989455c37ef Mon Sep 17 00:00:00 2001 From: Rune Harlyk Date: Wed, 13 Nov 2024 22:05:11 +0100 Subject: [PATCH] =?UTF-8?q?=F0=9F=AA=9B=20Revert=20gait=20body=20shift=20u?= =?UTF-8?q?pdate?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- esp32/lib/ESP32-sveltekit/gait/crawl_state.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/esp32/lib/ESP32-sveltekit/gait/crawl_state.h b/esp32/lib/ESP32-sveltekit/gait/crawl_state.h index f46db42..96ae998 100644 --- a/esp32/lib/ESP32-sveltekit/gait/crawl_state.h +++ b/esp32/lib/ESP32-sveltekit/gait/crawl_state.h @@ -16,7 +16,7 @@ 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}, {0.35f, 0, 0.2f}, {-0.05f, 0, 0.2f}, {0.35f, 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];