Darkages/SpotMicroESP32-Leika
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🤖 Updates gait params

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This commit is contained in:
Rune Harlyk
2024-09-10 19:35:35 +02:00
committed by Rune Harlyk
parent 6ab093786a
commit aad698f486
2 changed files with 197 additions and 197 deletions
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app/src/lib/gait.ts
+6 -6
View File
@@ -203,7 +203,7 @@ abstract class PhaseGaitState extends GaitState {
export class FourPhaseWalkState extends PhaseGaitState { export class FourPhaseWalkState extends PhaseGaitState {
protected name = 'Four phase walk'; protected name = 'Four phase walk';
protected num_phases = 4; protected num_phases = 4;
protected phase_speed_factor = 2.5; protected phase_speed_factor = 6;
protected contact_phases = [ protected contact_phases = [
[1, 0, 1, 1], [1, 0, 1, 1],
[1, 1, 1, 0], [1, 1, 1, 0],
@@ -228,17 +228,17 @@ export class FourPhaseWalkState extends PhaseGaitState {
export class EightPhaseWalkState extends PhaseGaitState { export class EightPhaseWalkState extends PhaseGaitState {
protected name = 'Eight phase walk'; protected name = 'Eight phase walk';
protected num_phases = 8; protected num_phases = 8;
protected phase_speed_factor = 1.5; protected phase_speed_factor = 4;
protected contact_phases = [ protected contact_phases = [
[1, 0, 1, 1, 1, 1, 1, 1], [1, 0, 1, 1, 1, 1, 1, 1],
[1, 1, 1, 0, 1, 1, 1, 1],
[1, 1, 1, 1, 1, 0, 1, 1], [1, 1, 1, 1, 1, 0, 1, 1],
[1, 1, 1, 1, 1, 1, 1, 0] [1, 1, 1, 1, 1, 1, 1, 0],
[1, 1, 1, 0, 1, 1, 1, 1]
]; ];
protected shifts = [ protected shifts = [
[-0.3, 0, -0.2], [-0.05, 0, -0.2],
[-0.3, 0, 0.2],
[0.3, 0, -0.2], [0.3, 0, -0.2],
[-0.05, 0, 0.2],
[0.3, 0, 0.2] [0.3, 0, 0.2]
]; ];
protected swing_stand_ratio = 1 / (this.num_phases - 1); protected swing_stand_ratio = 1 / (this.num_phases - 1);
esp32/lib/ESP32-sveltekit/Gait/GaitState.h
+4 -4
View File
@@ -155,7 +155,7 @@ class FourPhaseWalkState : public PhaseGaitState {
int num_phases() const override { return 4; } int num_phases() const override { return 4; }
float phase_speed_factor() const override { return 2.5; } float phase_speed_factor() const override { return 6; }
float swing_stand_ratio() const override { return 1.0f / (num_phases() - 1); } float swing_stand_ratio() const override { return 1.0f / (num_phases() - 1); }
@@ -180,15 +180,15 @@ class EightPhaseWalkState : public PhaseGaitState {
int num_phases() const override { return 8; } int num_phases() const override { return 8; }
float phase_speed_factor() const override { return 1.5; } float phase_speed_factor() const override { return 4; }
float swing_stand_ratio() const override { return 1.0f / (num_phases() - 1); } float swing_stand_ratio() const override { return 1.0f / (num_phases() - 1); }
public: public:
EightPhaseWalkState() { EightPhaseWalkState() {
uint8_t contact[4][8] = { uint8_t contact[4][8] = {
{1, 0, 1, 1, 1, 1, 1, 1}, {1, 1, 1, 0, 1, 1, 1, 1}, {1, 1, 1, 1, 1, 0, 1, 1}, {1, 1, 1, 1, 1, 1, 1, 0}}; {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] = {{-0.3f, 0, -0.2f}, {-0.3f, 0, 0.2f}, {0.3f, 0, -0.2f}, {0.3f, 0, 0.2f}}; 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 i = 0; i < 4; ++i) {
for (uint8_t j = 0; j < 8; ++j) { for (uint8_t j = 0; j < 8; ++j) {
contact_phases[i][j] = contact[i][j]; contact_phases[i][j] = contact[i][j];