🚚 Moves firmware to src and include

esp32/include/gait/crawl_state.h

@@ -0,0 +1,33 @@
+#pragma once
+
+#include <gait/phase_state_base.h>
+
+class EightPhaseWalkState : public PhaseGaitState {
+  protected:
+    const char *name() const override { return "Eight phase walk"; }
+
+    int num_phases() const override { return 8; }
+
+    float phase_speed_factor() const override { return 4; }
+
+    float swing_stand_ratio() const override { return 1.0f / (num_phases() - 1); }
+
+  public:
+    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}, {0.25f, 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];
+            }
+            for (uint8_t j = 0; j < 3; ++j) {
+                shifts[i][j] = shift_values[i][j];
+            }
+        }
+    }
+
+    void step(body_state_t &body_state, ControllerCommand command, float dt = 0.02f) override {
+        return PhaseGaitState::step(body_state, command, dt);
+    }
+};