From bf8c9bce95fcd39c790cbc0ea225950c97d1693d Mon Sep 17 00:00:00 2001 From: Rune Harlyk Date: Wed, 16 Jul 2025 20:40:34 +0200 Subject: [PATCH] =?UTF-8?q?=F0=9F=93=9D=20Updates=20readme?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- readme.md | 21 ++++++++++++--------- 1 file changed, 12 insertions(+), 9 deletions(-) diff --git a/readme.md b/readme.md index 78e2d5c..4cc5ca5 100644 --- a/readme.md +++ b/readme.md @@ -37,6 +37,7 @@ By focusing on practicality and simplicity in both hardware and software, it off - **Robot mirroring visualization** - **Highly customizable** - **Self-Hosted**: Complete autonomy, from code to execution. +- **Multiple Variants**: Support both esp32 and Yertle variant ## 📐 Robot specifications @@ -131,6 +132,17 @@ The controller input is interpreted differently between the modes. | Stop button | E stop command | 0 or 1 | + +### Trot gait (12 point bezier curve) + +The trot gait implements a phase time $t\in[0,1]$, but instead of using contact phases we define a swing/stance ratio of phase time offset for each leg. + +The stance controller implements a sin curve to control the depth of steps. + +The swing controller implements a bezier curve using 12 control points centered around the robot leg. + +Rotation is calculated using the same curve. + ### 8-phase crawl gait The 8-phase crawl gait works by lifting one leg at a time while shifting its body weight away from the leg. @@ -141,15 +153,6 @@ At each time step the phase time $t\in [0,1]$ is updated. When $t\geq 1$ the pha Is derived from [mike4192 spotMicro](https://github.com/mike4192/spotMicro) -### Trot gait (12 point bezier curve) - -The trot gait implements a phase time $t\in[0,1]$, but instead of using contact phases we define a swing/stance ratio of phase time offset for each leg. - -The stance controller implements a sin curve to control the depth of steps. - -The swing controller implements a bezier curve using 12 control points centered around the robot leg. - -Rotation is calulated using the same curve ## 🔮 Getting started 1. Clone and open the new project