🐛 Maps frontend gait params same as backend

2025-07-10 17:38:06 +02:00
parent e3cfe89e19
commit 9be405a89d
1 changed files with 2 additions and 2 deletions
@@ -62,8 +62,8 @@ export abstract class GaitState {
  map_command(command: ControllerCommand) {
    const newCommand = {
      step_height: 0.4 + (command.s1 / 128 + 1) / 2,
-      step_x: Math.floor(fromInt8(command.ly, -1, 1) * 10) / 10,
-      step_z: -(Math.floor(fromInt8(command.lx, -1, 1) * 10) / 10),
+      step_x: Math.floor((command.ly / 128) * 10) / 10,
+      step_z: -(Math.floor((command.lx / 128) * 10) / 10),
      step_velocity: command.s / 128 + 1,
      step_angle: command.rx / 128,
      step_depth: 0.002