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🎨 Moves kinematics config to kinematics file

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This commit is contained in:
Rune Harlyk
2025-09-05 11:48:37 +02:00
parent f82fa051f2
commit a3e4fdd8a5
4 changed files with 57 additions and 65 deletions
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esp32/include/kinematics.h
+57 -1
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@@ -2,7 +2,63 @@
#define Kinematics_h
#include <utils/math_utils.h>
#include <motion_states/kinematic_constraints.h>
class KinConfig {
public:
#if defined(SPOTMICRO_ESP32)
static constexpr float coxa = 60.5f / 100.0f;
static constexpr float coxa_offset = 10.0f / 100.0f;
static constexpr float femur = 111.2f / 100.0f;
static constexpr float tibia = 118.5f / 100.0f;
static constexpr float L = 207.5f / 100.0f;
static constexpr float W = 78.0f / 100.0f;
#elif defined(SPOTMICRO_ESP32_MINI)
static constexpr float coxa = 35.0f / 100.0f;
static constexpr float coxa_offset = 0.0f / 100.0f;
static constexpr float femur = 60.0f / 100.0f;
static constexpr float tibia = 60.0f / 100.0f;
static constexpr float L = 160.0f / 100.0f;
static constexpr float W = 80.0f / 100.0f;
#elif defined(SPOTMICRO_YERTLE)
static constexpr float coxa = 35.0f / 100.0f;
static constexpr float coxa_offset = 0.0f;
static constexpr float femur = 130.0f / 100.0f;
static constexpr float tibia = 130.0f / 100.0f;
static constexpr float L = 240.0f / 100.0f;
static constexpr float W = 78.0f / 100.0f;
#endif
static constexpr float mountOffsets[4][3] = {
{L / 2, 0, W / 2}, {L / 2, 0, -W / 2}, {-L / 2, 0, W / 2}, {-L / 2, 0, -W / 2}};
static constexpr float default_feet_positions[4][4] = {
{mountOffsets[0][0], 0, mountOffsets[0][2] + coxa, 1},
{mountOffsets[1][0], 0, mountOffsets[1][2] - coxa, 1},
{mountOffsets[2][0], 0, mountOffsets[2][2] + coxa, 1},
{mountOffsets[3][0], 0, mountOffsets[3][2] - coxa, 1},
};
// Max constants
static constexpr float max_roll = 15 * (float)M_PI_2;
static constexpr float max_pitch = 15 * (float)M_PI_2;
static constexpr float max_body_shift_x = W / 3;
static constexpr float max_body_shift_z = W / 3;
static constexpr float max_leg_reach = femur + tibia - coxa_offset;
static constexpr float min_body_height = max_leg_reach * 0.45;
static constexpr float max_body_height = max_leg_reach * 0.9;
static constexpr float body_height_range = max_body_height - min_body_height;
static constexpr float max_step_length = max_leg_reach * 0.8;
static constexpr float max_step_height = max_leg_reach / 2;
// Default constant
static constexpr float default_step_depth = 0.002;
static constexpr float default_body_height = min_body_height + body_height_range / 2;
static constexpr float default_step_height = default_body_height / 2;
};
struct alignas(16) body_state_t {
float omega {0}, phi {0}, psi {0}, xm {0}, ym {KinConfig::default_body_height}, zm {0};