🪘 Adds translated c++ Gait code

2024-08-01 22:47:34 +02:00
parent 0e59ee93f8
commit abefdd6c21
2 changed files with 186 additions and 38 deletions
@@ -4,6 +4,7 @@
 #include <EventSocket.h>
 #include <TaskManager.h>
 #include <Kinematics.h>
+#include <Gait/GaitState.h>
 #include <Timing.h>
 #include <MathUtils.h>

@@ -146,7 +147,7 @@ class MotionService {

    float dir[12] = {1, -1, -1, -1, -1, -1, 1, -1, -1, -1, -1, -1};
    float default_feet_positions[4][4] = {
-        {100, -100, 100, 1}, {100, -100, -100, 1}, {-100, -100, 100, 1}, {-100, -100, -100, 1}};
+        {1, -1, 1, 1}, {1, -1, -1, 1}, {-1, -1, 1, 1}, {-1, -1, -1, 1}};

    float angles[12] = {
        0,