Darkages/SpotMicroESP32-Leika
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🐛 Makes step height dynamic

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This commit is contained in:
Rune Harlyk
2025-09-04 21:03:09 +02:00
parent 78d01533f4
commit c85ac41ebc
2 changed files with 3 additions and 2 deletions
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esp32/include/gait/kinematic_constraints.h
+2 -1
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@@ -52,7 +52,8 @@ class KinConfig {
static constexpr float max_body_height = max_leg_reach * 0.9;
static constexpr float body_height_range = max_body_height - min_body_height;
static constexpr float max_step_length = 1;
static constexpr float max_step_length = max_leg_reach * 0.8;
static constexpr float max_step_height = max_leg_reach / 2;
// Default constant
static constexpr float default_step_depth = 0.002;
esp32/include/motion.h
+1 -1
View File
@@ -76,7 +76,7 @@ class MotionService {
break;
}
case MOTION_STATE::WALK: {
gait_state.step_height = KinConfig::default_step_height + command.s1;
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;