🤖 Updates gait params
This commit is contained in:
Rune Harlyk
+193
-193
@@ -4,254 +4,254 @@ import { fromInt8 } from './utilities';
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const { sin } = Math;
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export interface gait_state_t {
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step_height: number;
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step_x: number;
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step_z: number;
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step_angle: number;
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step_velocity: number;
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step_depth: number;
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step_height: number;
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step_x: number;
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step_z: number;
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step_angle: number;
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step_velocity: number;
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step_depth: number;
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}
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export interface ControllerCommand {
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stop: number;
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lx: number;
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ly: number;
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rx: number;
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ry: number;
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h: number;
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s: number;
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stop: number;
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lx: number;
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ly: number;
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rx: number;
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ry: number;
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h: number;
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s: number;
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}
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export abstract class GaitState {
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protected abstract name: string;
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protected abstract name: string;
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protected static body_state: body_state_t;
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protected static body_state: body_state_t;
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public get default_feet_pos() {
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return [
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[1, -1, 1, 1],
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[1, -1, -1, 1],
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[-1, -1, 1, 1],
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[-1, -1, -1, 1]
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];
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}
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public get default_feet_pos() {
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return [
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[1, -1, 1, 1],
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[1, -1, -1, 1],
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[-1, -1, 1, 1],
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[-1, -1, -1, 1]
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];
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}
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protected get default_height() {
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return 0.5;
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}
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protected get default_height() {
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return 0.5;
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}
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begin() {
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console.log('Starting', this.name);
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}
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end() {
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console.log('Ending', this.name);
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}
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step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
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return body_state;
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}
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begin() {
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console.log('Starting', this.name);
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}
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end() {
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console.log('Ending', this.name);
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}
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step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
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return body_state;
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}
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map_command(command: ControllerCommand): gait_state_t {
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return {
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step_height: 0.4 + Math.abs(command.ry / 128),
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step_x: (Math.floor(fromInt8(command.ly, -1, 1) * 10) / 10) * 3,
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step_z: -(Math.floor(fromInt8(command.lx, -1, 1) * 10) / 10) * 3,
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step_velocity: command.s / 128 + 1,
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step_angle: 0,
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step_depth: 0.2
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};
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}
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map_command(command: ControllerCommand): gait_state_t {
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return {
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step_height: 0.4 + Math.abs(command.ry / 128),
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step_x: (Math.floor(fromInt8(command.ly, -1, 1) * 10) / 10) * 3,
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step_z: -(Math.floor(fromInt8(command.lx, -1, 1) * 10) / 10) * 3,
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step_velocity: command.s / 128 + 1,
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step_angle: 0,
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step_depth: 0.2
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};
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}
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}
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export class IdleState extends GaitState {
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protected name = 'Idle';
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protected name = 'Idle';
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}
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export class CalibrationState extends GaitState {
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protected name = 'Calibration';
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protected name = 'Calibration';
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step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
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body_state.omega = 0;
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body_state.phi = 0;
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body_state.psi = 0;
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body_state.xm = 0;
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body_state.ym = this.default_height * 10;
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body_state.zm = 0;
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body_state.feet = this.default_feet_pos;
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return body_state;
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}
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step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
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body_state.omega = 0;
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body_state.phi = 0;
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body_state.psi = 0;
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body_state.xm = 0;
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body_state.ym = this.default_height * 10;
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body_state.zm = 0;
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body_state.feet = this.default_feet_pos;
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return body_state;
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}
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}
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export class RestState extends GaitState {
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protected name = 'Rest';
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protected name = 'Rest';
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step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
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body_state.omega = 0;
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body_state.phi = 0;
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body_state.psi = 0;
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body_state.xm = 0;
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body_state.ym = this.default_height / 2;
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body_state.zm = 0;
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body_state.feet = this.default_feet_pos;
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return body_state;
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}
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step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
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body_state.omega = 0;
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body_state.phi = 0;
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body_state.psi = 0;
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body_state.xm = 0;
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body_state.ym = this.default_height / 2;
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body_state.zm = 0;
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body_state.feet = this.default_feet_pos;
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return body_state;
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}
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}
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export class StandState extends GaitState {
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protected name = 'Stand';
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protected name = 'Stand';
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step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
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body_state.omega = 0;
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body_state.phi = command.rx / 8;
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body_state.psi = command.ry / 8;
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body_state.xm = command.ly / 2 / 100;
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body_state.zm = command.lx / 2 / 100;
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body_state.feet = this.default_feet_pos;
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return body_state;
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}
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step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
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body_state.omega = 0;
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body_state.phi = command.rx / 8;
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body_state.psi = command.ry / 8;
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body_state.xm = command.ly / 2 / 100;
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body_state.zm = command.lx / 2 / 100;
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body_state.feet = this.default_feet_pos;
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return body_state;
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}
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}
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abstract class PhaseGaitState extends GaitState {
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protected tick = 0;
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protected phase = 0;
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protected phase_time = 0;
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protected abstract num_phases: number;
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protected abstract phase_speed_factor: number;
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protected abstract swing_stand_ratio: number;
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protected tick = 0;
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protected phase = 0;
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protected phase_time = 0;
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protected abstract num_phases: number;
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protected abstract phase_speed_factor: number;
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protected abstract swing_stand_ratio: number;
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protected contact_phases!: number[][];
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protected shifts!: number[][];
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protected contact_phases!: number[][];
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protected shifts!: number[][];
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protected body_state!: body_state_t;
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protected gait_state!: gait_state_t;
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protected dt = 0.02;
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protected body_state!: body_state_t;
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protected gait_state!: gait_state_t;
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protected dt = 0.02;
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step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
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this.body_state = body_state;
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this.gait_state = this.map_command(command);
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this.dt = dt / 1000;
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this.update_phase();
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this.update_body_position();
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this.update_feet_positions();
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return this.body_state;
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}
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step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
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this.body_state = body_state;
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this.gait_state = this.map_command(command);
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this.dt = dt / 1000;
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this.update_phase();
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this.update_body_position();
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this.update_feet_positions();
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return this.body_state;
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}
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update_phase() {
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this.phase_time += this.dt * this.phase_speed_factor * this.gait_state.step_velocity;
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update_phase() {
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this.phase_time += this.dt * this.phase_speed_factor * this.gait_state.step_velocity;
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if (this.phase_time >= 1) {
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this.phase += 1;
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if (this.phase == this.num_phases) this.phase = 0;
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this.phase_time = 0;
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}
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}
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if (this.phase_time >= 1) {
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this.phase += 1;
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if (this.phase == this.num_phases) this.phase = 0;
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this.phase_time = 0;
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}
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}
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update_body_position() {
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if (this.num_phases === 4) return;
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update_body_position() {
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if (this.num_phases === 4) return;
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const shift = this.shifts[Math.floor(this.phase / 2)];
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const shift = this.shifts[Math.floor(this.phase / 2)];
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this.body_state.xm += (shift[0] - this.body_state.xm) * this.dt * 4;
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this.body_state.zm += (shift[2] - this.body_state.zm) * this.dt * 4;
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}
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this.body_state.xm += (shift[0] - this.body_state.xm) * this.dt * 4;
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this.body_state.zm += (shift[2] - this.body_state.zm) * this.dt * 4;
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}
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update_feet_positions() {
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for (let i = 0; i < 4; i++) {
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this.body_state.feet[i] = this.update_foot_position(i);
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}
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}
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update_feet_positions() {
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for (let i = 0; i < 4; i++) {
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this.body_state.feet[i] = this.update_foot_position(i);
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}
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}
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update_foot_position(index: number): number[] {
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const contact = this.contact_phases[index][this.phase];
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return contact ? this.stand(index) : this.swing(index);
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}
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update_foot_position(index: number): number[] {
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const contact = this.contact_phases[index][this.phase];
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return contact ? this.stand(index) : this.swing(index);
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}
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stand(index: number): number[] {
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const delta_pos = [
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-this.gait_state.step_x * this.dt * this.swing_stand_ratio,
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0,
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-this.gait_state.step_z * this.dt * this.swing_stand_ratio
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];
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stand(index: number): number[] {
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const delta_pos = [
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-this.gait_state.step_x * this.dt * this.swing_stand_ratio,
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0,
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-this.gait_state.step_z * this.dt * this.swing_stand_ratio
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];
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this.body_state.feet[index][0] = this.body_state.feet[index][0] + delta_pos[0];
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this.body_state.feet[index][1] = this.default_feet_pos[index][1];
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this.body_state.feet[index][2] = this.body_state.feet[index][2] + delta_pos[2];
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return this.body_state.feet[index];
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}
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this.body_state.feet[index][0] = this.body_state.feet[index][0] + delta_pos[0];
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this.body_state.feet[index][1] = this.default_feet_pos[index][1];
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this.body_state.feet[index][2] = this.body_state.feet[index][2] + delta_pos[2];
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return this.body_state.feet[index];
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}
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swing(index: number): number[] {
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const delta_pos = [this.gait_state.step_x * this.dt, 0, this.gait_state.step_z * this.dt];
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swing(index: number): number[] {
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const delta_pos = [this.gait_state.step_x * this.dt, 0, this.gait_state.step_z * this.dt];
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if (this.gait_state.step_x == 0) {
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delta_pos[0] =
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(this.default_feet_pos[index][0] - this.body_state.feet[index][0]) * this.dt * 8;
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}
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if (this.gait_state.step_x == 0) {
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delta_pos[0] =
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(this.default_feet_pos[index][0] - this.body_state.feet[index][0]) * this.dt * 8;
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}
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if (this.gait_state.step_z == 0) {
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delta_pos[2] =
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(this.default_feet_pos[index][2] - this.body_state.feet[index][2]) * this.dt * 8;
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}
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if (this.gait_state.step_z == 0) {
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delta_pos[2] =
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(this.default_feet_pos[index][2] - this.body_state.feet[index][2]) * this.dt * 8;
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}
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this.body_state.feet[index][0] = this.body_state.feet[index][0] + delta_pos[0];
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this.body_state.feet[index][1] =
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this.default_feet_pos[index][1] +
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sin(this.phase_time * Math.PI) * this.gait_state.step_height;
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this.body_state.feet[index][2] = this.body_state.feet[index][2] + delta_pos[2];
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return this.body_state.feet[index];
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}
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this.body_state.feet[index][0] = this.body_state.feet[index][0] + delta_pos[0];
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this.body_state.feet[index][1] =
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this.default_feet_pos[index][1] +
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sin(this.phase_time * Math.PI) * this.gait_state.step_height;
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this.body_state.feet[index][2] = this.body_state.feet[index][2] + delta_pos[2];
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return this.body_state.feet[index];
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}
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}
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export class FourPhaseWalkState extends PhaseGaitState {
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protected name = 'Four phase walk';
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protected num_phases = 4;
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protected phase_speed_factor = 2.5;
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protected contact_phases = [
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[1, 0, 1, 1],
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[1, 1, 1, 0],
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[1, 1, 1, 0],
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[1, 0, 1, 1]
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];
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protected swing_stand_ratio = 1 / (this.num_phases - 1);
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protected name = 'Four phase walk';
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protected num_phases = 4;
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protected phase_speed_factor = 6;
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protected contact_phases = [
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[1, 0, 1, 1],
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[1, 1, 1, 0],
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[1, 1, 1, 0],
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[1, 0, 1, 1]
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];
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protected swing_stand_ratio = 1 / (this.num_phases - 1);
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begin() {
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super.begin();
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}
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begin() {
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super.begin();
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}
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end() {
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super.end();
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}
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end() {
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super.end();
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}
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step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
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return super.step(body_state, command, dt);
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}
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step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
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return super.step(body_state, command, dt);
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}
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}
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export class EightPhaseWalkState extends PhaseGaitState {
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protected name = 'Eight phase walk';
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protected num_phases = 8;
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protected phase_speed_factor = 1.5;
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protected contact_phases = [
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[1, 0, 1, 1, 1, 1, 1, 1],
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[1, 1, 1, 0, 1, 1, 1, 1],
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[1, 1, 1, 1, 1, 0, 1, 1],
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[1, 1, 1, 1, 1, 1, 1, 0]
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];
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protected shifts = [
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[-0.3, 0, -0.2],
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[-0.3, 0, 0.2],
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[0.3, 0, -0.2],
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[0.3, 0, 0.2]
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];
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protected swing_stand_ratio = 1 / (this.num_phases - 1);
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protected name = 'Eight phase walk';
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protected num_phases = 8;
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protected phase_speed_factor = 4;
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protected contact_phases = [
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[1, 0, 1, 1, 1, 1, 1, 1],
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[1, 1, 1, 1, 1, 0, 1, 1],
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[1, 1, 1, 1, 1, 1, 1, 0],
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[1, 1, 1, 0, 1, 1, 1, 1]
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];
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protected shifts = [
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[-0.05, 0, -0.2],
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[0.3, 0, -0.2],
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[-0.05, 0, 0.2],
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[0.3, 0, 0.2]
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];
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protected swing_stand_ratio = 1 / (this.num_phases - 1);
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begin() {
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super.begin();
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}
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begin() {
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super.begin();
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}
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end() {
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super.end();
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}
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end() {
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super.end();
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}
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step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
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return super.step(body_state, command, dt);
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}
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step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
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return super.step(body_state, command, dt);
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}
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}
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