🪘 Adds translated c++ Gait code

esp32/lib/ESP32-sveltekit/Gait/GaitState.h

@@ -1,60 +1,207 @@
-#ifndef GAIT_STATE_H
-#define GAIT_STATE_H
-
 #include <Kinematics.h>
 
+struct gait_state_t {
+    float step_height;
+    float step_x;
+    float step_z;
+    float step_angle;
+    float step_velocity;
+};
+
+struct ControllerCommand {
+    int stop;
+    float lx, ly, rx, ry, h, s;
+};
+
 class GaitState {
-  private:
+  protected:
+    virtual const char* name() const = 0;
+    float default_feet_positions[4][4] = {{1, -1, 1, 1}, {1, -1, -1, 1}, {-1, -1, 1, 1}, {-1, -1, -1, 1}};
+
   public:
-    GaitState() { ESP_LOGI("GaitState", "%s constructor", name); }
+    virtual float getDefaultHeight() const { return 0.5f; }
 
-    virtual ~GaitState() = 0;
+    virtual void begin() { ESP_LOGI("Gait Planner", "Starting %s", name()) }
 
-    virtual void begin() = 0;
+    virtual void end() { ESP_LOGI("Gait Planner", "Ending %s", name()) }
 
-    virtual void end() = 0;
+    virtual void step(body_state_t body_state, ControllerCommand command, float dt = 0.02f) {}
-
-    virtual void loop() = 0;
-
-    const char *name;
-
-    static body_state_t body_state;
 };
 
 class IdleState : public GaitState {
-  public:
+  protected:
-    IdleState() { name = "Idle"; }
+    const char* name() const override { return "Idle"; }
-    ~IdleState() {}
+};
 
-    void begin() override { ESP_LOGI("GaitState", "IdleState begin"); }
+class RestState : public GaitState {
+  protected:
+    const char* name() const override { return "Rest"; }
 
-    void end() override { ESP_LOGI("GaitState", "IdleState end"); }
+    void step(body_state_t body_state, ControllerCommand command, float dt = 0.02f) override {
-
+        body_state.omega = 0;
-    void loop() override { ESP_LOGI("GaitState", "IdleState loop"); }
+        body_state.phi = 0;
+        body_state.psi = 0;
+        body_state.xm = 0;
+        body_state.ym = getDefaultHeight() / 2;
+        body_state.zm = 0;
+        body_state.updateFeet(default_feet_positions);
+    }
 };
 
 class StandState : public GaitState {
-  public:
+  protected:
-    StandState() { name = "Stand"; }
+    const char* name() const override { return "Stand"; }
-    ~StandState() {}
 
-    void begin() override { ESP_LOGI("GaitState", "StandState begin"); }
+    void step(body_state_t body_state, ControllerCommand command, float dt = 0.02f) override {
-
+        body_state.omega = 0;
-    void end() override { ESP_LOGI("GaitState", "StandState end"); }
+        body_state.phi = command.rx / 8;
-
+        body_state.psi = command.ry / 8;
-    void loop() override { ESP_LOGI("GaitState", "StandState loop"); }
+        body_state.xm = command.ly / 2 / 100;
+        body_state.zm = command.lx / 2 / 100;
+        body_state.updateFeet(default_feet_positions);
+    }
 };
 
-class WalkState : public GaitState {
+class PhaseGaitState : public GaitState {
-  public:
+  protected:
-    WalkState() { name = "Walk"; }
+    int tick = 0;
-    ~WalkState() {}
+    int phase = 0;
+    float phase_time = 0;
+    virtual int num_phases() const = 0;
+    virtual int phase_length() const = 0;
+    virtual float swing_stand_ratio() const = 0;
 
-    void begin() override { ESP_LOGI("GaitState", "WalkState begin"); }
+    uint8_t contact_phases[4][8];
+    float shifts[4][3];
 
-    void end() override { ESP_LOGI("GaitState", "WalkState end"); }
+    gait_state_t gait_state;
+    float dt = 0.02f;
 
-    void loop() override { ESP_LOGI("GaitState", "WalkState loop"); }
+    void step(body_state_t body_state, ControllerCommand command, float dt = 0.02f) override {
+        this->gait_state = mapCommand(command);
+        this->dt = dt;
+        updatePhase();
+        updateBodyPosition(body_state);
+        updateFeetPositions(body_state.feet);
+    }
+
+    void updatePhase() {
+        tick += 1;
+        phase_time = static_cast<float>(tick) / phase_length();
+
+        if (tick % phase_length() == 0) {
+            phase += 1;
+            if (phase == num_phases()) phase = 0;
+            tick = 0;
+        }
+    }
+
+    void updateBodyPosition(body_state_t body_state) {
+        if (num_phases() == 4) return;
+
+        const auto& shift = shifts[phase / 2];
+        body_state.xm += (shift[0] - body_state.xm) * dt * 4;
+        body_state.zm += (shift[2] - body_state.zm) * dt * 4;
+    }
+
+    void updateFeetPositions(float feet[4][4]) {
+        for (int i = 0; i < 4; ++i) {
+            updateFootPosition(feet[i], i);
+        }
+    }
+
+    void updateFootPosition(float foot[4], int index) {
+        bool contact = contact_phases[index][phase];
+        contact ? stand(foot, index) : swing(foot, index);
+    }
+
+    void stand(float foot[4], int index) {
+        float delta_pos[3] = {-gait_state.step_x * dt * swing_stand_ratio(), 0,
+                              -gait_state.step_z * dt * swing_stand_ratio()};
+
+        foot[0] += delta_pos[0];
+        foot[1] = default_feet_positions[index][1];
+        foot[2] += delta_pos[2];
+    }
+
+    void swing(float foot[4], int index) {
+        float delta_pos[3] = {gait_state.step_x * dt, 0, gait_state.step_z * dt};
+
+        if (gait_state.step_x == 0) {
+            delta_pos[0] = (default_feet_positions[index][0] - foot[0]) * dt * 8;
+        }
+
+        if (gait_state.step_z == 0) {
+            delta_pos[2] = (default_feet_positions[index][2] - foot[2]) * dt * 8;
+        }
+
+        foot[0] += delta_pos[0];
+        foot[1] = default_feet_positions[index][1] + std::sin(phase_time * M_PI) * gait_state.step_height;
+        foot[2] += delta_pos[2];
+    }
+
+    gait_state_t mapCommand(ControllerCommand command) {
+        gait_state_t state;
+        state.step_height = 0.4f;
+        state.step_x = std::round(command.ly * 10) / 10 * 3;
+        state.step_z = -std::round(command.lx * 10) / 10 * 3;
+        state.step_velocity = 1;
+        state.step_angle = 0;
+        return state;
+    }
 };
 
-#endif
+class FourPhaseWalkState : public PhaseGaitState {
+  protected:
+    const char* name() const override { return "Four phase walk"; }
+
+    int num_phases() const override { return 4; }
+
+    int phase_length() const override { return 15; }
+
+    float swing_stand_ratio() const override { return 1.0f / (num_phases() - 1); }
+
+  public:
+    FourPhaseWalkState() {
+        uint8_t contact[4][4] = {{1, 0, 1, 1}, {1, 1, 1, 0}, {1, 1, 1, 0}, {1, 0, 1, 1}};
+        for (int i = 0; i < 4; ++i) {
+            for (int j = 0; j < 4; ++j) {
+                contact_phases[i][j] = contact[i][j];
+            }
+        }
+    }
+
+    void step(body_state_t body_state, ControllerCommand command, float dt = 0.02f) override {
+        return PhaseGaitState::step(body_state, command, dt);
+    }
+};
+
+class EightPhaseWalkState : public PhaseGaitState {
+  protected:
+    const char* name() const override { return "Eight phase walk"; }
+
+    int num_phases() const override { return 8; }
+
+    int phase_length() const override { return 20; }
+
+    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, 0, 1, 1, 1, 1}, {1, 1, 1, 1, 1, 0, 1, 1}, {1, 1, 1, 1, 1, 1, 1, 0}};
+        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}};
+        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);
+    }
+};

esp32/lib/ESP32-sveltekit/MotionService.h

@@ -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,