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✨ Introduces motion as a state machine

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This commit is contained in:
Rune Harlyk
2025-09-04 23:11:59 +02:00
committed by Rune Harlyk
parent c85ac41ebc
commit b66ddc3e81
6 changed files with 118 additions and 123 deletions
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esp32/include/motion.h
+36 -75
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@@ -9,13 +9,14 @@
#include <gait/state.h>
#include <gait/walk_state.h>
#include <gait/stand_state.h>
#include <gait/rest_state.h>
#include <gait/kinematic_constraints.h>
#include <message_types.h>
#define DEFAULT_STATE false
#define ANGLES_EVENT "angles"
#define INPUT_EVENT "input"
#define POSITION_EVENT "position"
#define MODE_EVENT "mode"
#define WALK_GAIT_EVENT "walk_gait"
@@ -35,8 +36,6 @@ class MotionService {
socket.onEvent(ANGLES_EVENT, [&](JsonVariant &root, int originId) { anglesEvent(root, originId); });
socket.onEvent(POSITION_EVENT, [&](JsonVariant &root, int originId) { positionEvent(root, originId); });
socket.onSubscribe(ANGLES_EVENT,
std::bind(&MotionService::syncAngles, this, std::placeholders::_1, std::placeholders::_2));
@@ -51,40 +50,18 @@ class MotionService {
syncAngles(String(originId));
}
void positionEvent(JsonVariant &root, int originId) {
JsonArray array = root.as<JsonArray>();
body_state.omega = array[0];
body_state.phi = array[1];
body_state.psi = array[2];
body_state.xm = array[3];
body_state.ym = array[4];
body_state.zm = array[5];
void setState(MotionState *newState) {
_servoController->activate();
if (state) {
state->end();
}
state = newState;
if (state) state->begin();
}
void handleInput(JsonVariant &root, int originId) {
command.fromJson(root);
target_body_state.ym = KinConfig::min_body_height + command.h * KinConfig::body_height_range;
target_body_state.psi = command.ry * KinConfig::max_pitch;
switch (motionState) {
case MOTION_STATE::STAND: {
target_body_state.phi = command.rx * KinConfig::max_roll;
target_body_state.xm = command.ly * KinConfig::max_body_shift_x;
target_body_state.zm = command.lx * KinConfig::max_body_shift_z;
body_state.updateFeet(KinConfig::default_feet_positions);
break;
}
case MOTION_STATE::WALK: {
gait_state.step_height = command.s1 * KinConfig::max_step_height;
gait_state.step_x = command.ly * KinConfig::max_step_length;
gait_state.step_z = -command.lx * KinConfig::max_step_length;
gait_state.step_velocity = command.s;
gait_state.step_angle = command.rx;
gait_state.step_depth = KinConfig::default_step_depth;
break;
}
}
if (state) state->handleCommand(command);
}
void handleWalkGait(JsonVariant &root, int originId) {
@@ -92,17 +69,26 @@ class MotionService {
WALK_GAIT walkGait = static_cast<WALK_GAIT>(root.as<int>());
if (walkGait == WALK_GAIT::TROT)
this->walkGait.set_mode_trot();
walkState.set_mode_trot();
else
this->walkGait.set_mode_crawl();
walkState.set_mode_crawl();
}
void handleMode(JsonVariant &root, int originId) {
motionState = static_cast<MOTION_STATE>(root.as<int>());
ESP_LOGV("MotionService", "Mode %d", motionState);
motionState == MOTION_STATE::DEACTIVATED ? _servoController->deactivate() : _servoController->activate();
MOTION_STATE mode = static_cast<MOTION_STATE>(root.as<int>());
ESP_LOGV("MotionService", "Mode %d", mode);
switch (mode) {
case MOTION_STATE::REST: setState(&restState); break;
case MOTION_STATE::STAND: setState(&standState); break;
case MOTION_STATE::WALK: setState(&walkState); break;
case MOTION_STATE::DEACTIVATED:
setState(nullptr);
_servoController->deactivate();
break;
default: setState(nullptr); break;
}
JsonDocument doc;
doc.set(static_cast<int>(motionState));
doc.set(static_cast<int>(mode));
JsonVariant data = doc.as<JsonVariant>();
socket.emit(MODE_EVENT, data, String(originId).c_str());
}
@@ -121,27 +107,10 @@ class MotionService {
}
bool updateMotion() {
switch (motionState) {
case MOTION_STATE::DEACTIVATED: return false;
case MOTION_STATE::IDLE: return false;
case MOTION_STATE::CALIBRATION: update_angles(calibration_angles, new_angles); break;
case MOTION_STATE::REST: update_angles(rest_angles, new_angles); break;
case MOTION_STATE::STAND: {
body_state.xm = lerp(body_state.xm, target_body_state.xm, smoothing_factor);
body_state.ym = lerp(body_state.ym, target_body_state.ym, smoothing_factor);
body_state.zm = lerp(body_state.zm, target_body_state.zm, smoothing_factor);
body_state.phi = lerp(body_state.phi, target_body_state.phi + _peripherals->angleY(), smoothing_factor);
body_state.psi = lerp(body_state.psi, target_body_state.psi + _peripherals->angleX(), smoothing_factor);
kinematics.calculate_inverse_kinematics(body_state, new_angles);
break;
}
case MOTION_STATE::WALK:
body_state.ym = lerp(body_state.ym, target_body_state.ym, smoothing_factor);
body_state.psi = lerp(body_state.psi, target_body_state.psi + _peripherals->angleX(), smoothing_factor);
walkGait.step(body_state, command);
kinematics.calculate_inverse_kinematics(body_state, new_angles);
break;
}
if (!state) return false;
state->step(body_state);
kinematics.calculate_inverse_kinematics(body_state, new_angles);
return update_angles(new_angles, angles);
}
@@ -163,31 +132,23 @@ class MotionService {
ServoController *_servoController;
Peripherals *_peripherals;
Kinematics kinematics;
WalkState walkGait;
CommandMsg command = {0, 0, 0, 0, 0, 0, 0};
friend class GaitState;
friend class MotionState;
MOTION_STATE motionState = MOTION_STATE::DEACTIVATED;
unsigned long _lastUpdate;
MotionState *state = nullptr;
RestState restState;
StandState standState;
WalkState walkState;
body_state_t target_body_state;
body_state_t body_state;
gait_state_t gait_state;
const float smoothing_factor = 0.06f;
float new_angles[12] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
float angles[12] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
float dir[12] = {1, -1, -1, -1, -1, -1, 1, -1, -1, -1, -1, -1};
#if defined(SPOTMICRO_ESP32) || defined(SPOTMICRO_ESP32_MINI)
float rest_angles[12] = {0, 90, -145, 0, 90, -145, 0, 90, -145, 0, 90, -145};
float calibration_angles[12] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
#elif defined(SPOTMICRO_YERTLE)
float rest_angles[12] = {0, 45, -45, 0, 45, -45, 0, 45, -45, 0, 45, -45};
float calibration_angles[12] = {0, 90, 0, 0, 90, 0, 0, 90, 0, 0, 90, 0};
#endif
};
#endif