Darkages/SpotMicroESP32-Leika
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

🐛 Maps frontend gait params same as backend

Browse Source
This commit is contained in:
Rune Harlyk
2025-07-10 17:38:06 +02:00
committed by Rune Harlyk
parent e3cfe89e19
commit 9be405a89d
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
app/src/lib/gait.ts
+2 -2
View File
@@ -62,8 +62,8 @@ export abstract class GaitState {
map_command(command: ControllerCommand) { map_command(command: ControllerCommand) {
const newCommand = { const newCommand = {
step_height: 0.4 + (command.s1 / 128 + 1) / 2, step_height: 0.4 + (command.s1 / 128 + 1) / 2,
step_x: Math.floor(fromInt8(command.ly, -1, 1) * 10) / 10, step_x: Math.floor((command.ly / 128) * 10) / 10,
step_z: -(Math.floor(fromInt8(command.lx, -1, 1) * 10) / 10), step_z: -(Math.floor((command.lx / 128) * 10) / 10),
step_velocity: command.s / 128 + 1, step_velocity: command.s / 128 + 1,
step_angle: command.rx / 128, step_angle: command.rx / 128,
step_depth: 0.002 step_depth: 0.002