🐏 Adds gait structures

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

@@ -0,0 +1,60 @@
+#ifndef GAIT_STATE_H
+#define GAIT_STATE_H
+
+#include <Kinematics.h>
+
+class GaitState {
+  private:
+  public:
+    GaitState() { ESP_LOGI("GaitState", "%s constructor", name); }
+
+    virtual ~GaitState() = 0;
+
+    virtual void begin() = 0;
+
+    virtual void end() = 0;
+
+    virtual void loop() = 0;
+
+    const char *name;
+
+    static body_state_t body_state;
+};
+
+class IdleState : public GaitState {
+  public:
+    IdleState() { name = "Idle"; }
+    ~IdleState() {}
+
+    void begin() override { ESP_LOGI("GaitState", "IdleState begin"); }
+
+    void end() override { ESP_LOGI("GaitState", "IdleState end"); }
+
+    void loop() override { ESP_LOGI("GaitState", "IdleState loop"); }
+};
+
+class StandState : public GaitState {
+  public:
+    StandState() { name = "Stand"; }
+    ~StandState() {}
+
+    void begin() override { ESP_LOGI("GaitState", "StandState begin"); }
+
+    void end() override { ESP_LOGI("GaitState", "StandState end"); }
+
+    void loop() override { ESP_LOGI("GaitState", "StandState loop"); }
+};
+
+class WalkState : public GaitState {
+  public:
+    WalkState() { name = "Walk"; }
+    ~WalkState() {}
+
+    void begin() override { ESP_LOGI("GaitState", "WalkState begin"); }
+
+    void end() override { ESP_LOGI("GaitState", "WalkState end"); }
+
+    void loop() override { ESP_LOGI("GaitState", "WalkState loop"); }
+};
+
+#endif